Upgrade system and upgrade method for outdoor working vehicle, and intelligent outdoor working vehicle

Abstract

The application relates to the field of garden tools, in particular to an upgrading system and method applied to an existing outdoor work vehicle and an intelligent outdoor work vehicle. The upgrading system comprises a connecting assembly, a detection assembly and a computing power master control module. The detection assembly comprises a first type detection assembly and a second type detection assembly. The computing power master control module acquires position information and / or surrounding environment information of the intelligent outdoor work vehicle based on the first type detection assembly and generates an obstacle presence / absence signal around the vehicle. The second type detection assembly generates the obstacle presence / absence signal around the vehicle based on its environment perception around the intelligent outdoor work vehicle. A vehicle controller controls a walking assembly and / or a work assembly to change an output power board or stop work based on the obstacle presence / absence signal. The upgrading system of the existing outdoor work vehicle solves the problem that the existing outdoor work vehicle does not have an automatic work function by additionally installing the detection assembly on the outdoor work.

Description

[Technical Field]

[0001] This invention relates to the field of garden tools, and in particular to an upgrade system and method for outdoor work vehicles, and an intelligent outdoor work vehicle. [Background Technology]

[0002] Intelligent lawnmowers are widely welcomed by consumers because they can move autonomously within their work area and perform lawnmowing tasks, freeing users from the tedious work of mowing.

[0003] However, for an automatic lawnmower to move and mow autonomously within its work area, it needs not only the ability to identify the work area but also the ability to identify obstacles around the machine. Especially in the commercial automatic lawnmower sector, due to the demands for cutting efficiency, automatic lawnmowers travel at relatively high speeds, making the ability to accurately and promptly identify obstacles around the machine increasingly crucial. [Summary of the Invention]

[0004] In view of the shortcomings of the existing technology, the purpose of this invention is to provide an intelligent outdoor work vehicle with fully automatic operation function.

[0005] The technical solution adopted by this invention to solve the problems of the prior art is: an upgrade system for outdoor work vehicles, the upgrade system being used at least to upgrade existing outdoor work vehicles that do not have or do not fully have automatic operation functions to intelligent outdoor work vehicles with automatic operation functions, the existing outdoor work vehicle comprising: a frame; a cover covering at least a portion of the frame; a walking assembly configured to support the existing outdoor work vehicle in movement; an operation assembly configured to perform outdoor operations; an energy source system configured to provide a power source for the existing outdoor work vehicle, the energy source system including a battery compartment; and a vehicle controller configured to control the existing outdoor work vehicle to move in a predetermined direction and / or perform outdoor operations; the upgrade system comprising: a connecting assembly disposed on at least one of the frame, the cover, and the battery compartment; and a detection assembly disposed on the connecting assembly, the detection assembly being configured to... The system detects the location information of the intelligent outdoor work vehicle and / or the environmental information around the vehicle; a computing power main control module is signal-connected to the vehicle controller and the detection components, and the computing power main control module is used at least to enable the intelligent outdoor work vehicle to avoid obstacles during driving; the detection components include a first type of detection component and a second type of detection component, the computing power main control module obtains the location information and / or the surrounding environmental information of the intelligent outdoor work vehicle based on the first type of detection component and generates a signal indicating the presence or absence of obstacles around the vehicle, and the second type of detection component generates a signal indicating the presence or absence of obstacles around the vehicle based on its perception of the environment around the intelligent outdoor work vehicle; both the computing power main control module and the second type of detection component send the signal indicating the presence or absence of obstacles around the intelligent outdoor work vehicle to the vehicle controller, and the vehicle controller controls the walking component and / or the working component to change the output power or stop the operation based on the signal indicating the presence or absence of obstacles.

[0006] In some embodiments, the computing power main control module sends a signal indicating the presence or absence of obstacles around the vehicle to the vehicle controller via a first communication bus, and the second type of detection component sends a signal indicating the presence or absence of obstacles around the vehicle to the vehicle controller via a second communication bus.

[0007] In some embodiments, the computing power control module and the second type of detection component send signals to the vehicle controller via the same communication bus to indicate whether there are obstacles around the vehicle.

[0008] In some embodiments, the first type of detection component includes a first type of detection unit and a first type of detection controller, wherein the first type of detection controller generates a signal that can be recognized by the computing power main control module based on the signal output by the first type of detection unit.

[0009] In some embodiments, the second type of detection component includes a second type of detection unit and a second type of detection controller, wherein the second type of detection controller generates a signal indicating the presence or absence of obstacles around the intelligent outdoor work vehicle based on the signal output by the first type of detection unit.

[0010] In some embodiments, the existing outdoor operation vehicle further includes a power management device, and the computing power control module includes a first power connection terminal and a first power supply terminal. The computing power control module obtains the power of the power management device through the first power connection terminal and supplies power to the first type of detection component through the first power supply terminal.

[0011] In some embodiments, the existing outdoor work vehicle further includes a power management device. The vehicle controller is provided with a second power connection terminal and a second power supply terminal. The vehicle controller obtains electrical energy from the power management device through the second power connection terminal and converts the electrical energy to supply power to the second type of detector component through the second power supply terminal.

[0012] In some embodiments, the computing power control module is located between the seat and the battery compartment of the intelligent outdoor work vehicle; and / or,

[0013] The main computing power control module is located above the seat of the intelligent outdoor work vehicle.

[0014] In some embodiments, the first type of detection components provides full-angle coverage around the intelligent outdoor work vehicle.

[0015] In some embodiments, the first type of detection component includes at least one of a visual sensor and a lidar.

[0016] In some embodiments, the first type of detection component includes a visual sensor, the visual sensor being located at a height of 400mm to 680mm in the intelligent outdoor work vehicle.

[0017] In some embodiments, the first type of detection component includes a visual sensor, the visual sensor having a preset angle range of -15° to 5° relative to the horizontal plane.

[0018] In some embodiments, the first type of detection component includes a lidar, the lidar being mounted on the intelligent outdoor work vehicle at a height ranging from 420mm to 635mm.

[0019] In some embodiments, the first type of detection component includes a lidar, wherein the lidar has a preset angle range of 0° to 5° relative to the horizontal plane.

[0020] In some embodiments, the second type of detection components provide full-angle coverage around the intelligent outdoor work vehicle.

[0021] In some embodiments, the second type of detection component includes at least one of an ultrasonic sensor and a collision detection device.

[0022] In some embodiments, the second type of detection component includes an ultrasonic sensor, which is installed at a height of 345mm to 380mm on the intelligent outdoor work vehicle.

[0023] In some embodiments, the second type of detection component includes an ultrasonic sensor, the ultrasonic sensor having a preset angle range of 10° to 20° relative to the horizontal plane.

[0024] In some embodiments, the system further includes a satellite positioning receiving antenna and a satellite positioning mobile station disposed on the intelligent outdoor work vehicle. The satellite positioning receiving antenna is used to receive satellite signals and transmit the received satellite signals to the satellite positioning mobile station. The satellite positioning mobile station is signal-connected to the computing power main control module.

[0025] In some embodiments, two satellite positioning receiving antennas are provided, and the distance between the two satellite positioning receiving antennas ranges from 260mm to 1300mm.

[0026] This application also provides an intelligent outdoor work vehicle, comprising: a frame; a cover covering at least a portion of the frame; a walking assembly configured to support the intelligent outdoor work vehicle in motion; a work assembly configured to perform outdoor work; an energy source system configured to provide a power source for the intelligent outdoor work vehicle, the energy source system including a battery compartment; a vehicle controller configured to control the intelligent outdoor work vehicle to move in a predetermined direction and / or perform outdoor work; a connection assembly disposed on at least one of the frame, the cover, and the battery compartment; a detection assembly disposed on the connection assembly, the detection assembly configured to detect the location information of the intelligent outdoor work vehicle and / or environmental information around the vehicle; and a computing power main control module signal-connected to the vehicle controller and... The detection components in the signal connection section, and the computing power control module, are at least used to enable the intelligent outdoor work vehicle to avoid obstacles during operation. The detection components include a first type of detection component and a second type of detection component. The computing power control module acquires the location information and / or surrounding environmental information of the intelligent outdoor work vehicle based on the first type of detection component and generates a signal indicating the presence or absence of obstacles around the vehicle. The second type of detection component generates a signal indicating the presence or absence of obstacles around the vehicle based on its perception of the surrounding environment. Both the computing power control module and the second type of detection component send the signal indicating the presence or absence of obstacles around the intelligent outdoor work vehicle to the vehicle controller. The vehicle controller controls the walking component and / or the working component to change their output power or stop operation based on the signal indicating the presence or absence of obstacles.

[0027] In some embodiments, the computing power main control module sends a signal indicating the presence or absence of obstacles around the vehicle to the vehicle controller via a first communication bus, and the second type of detection component sends a signal indicating the presence or absence of obstacles around the vehicle to the vehicle controller via a second communication bus.

[0028] In some embodiments, the computing power control module and the second type of detection component send signals to the vehicle controller via the same communication bus to indicate whether there are obstacles around the vehicle.

[0029] This application also provides an upgrade system for outdoor work vehicles. The upgrade system is at least used to upgrade existing outdoor work vehicles that do not have or do not fully have automatic operation functions to intelligent outdoor work vehicles with automatic operation functions. The existing outdoor work vehicle includes: a frame; a cover covering at least a portion of the frame; a walking assembly configured to support the existing outdoor work vehicle's movement; an operation assembly configured to perform outdoor operations; an energy source system configured to provide a power source for the existing outdoor work vehicle, the energy source system including a battery compartment; and a vehicle controller configured to control the existing outdoor work vehicle to move in a predetermined direction and / or perform outdoor operations. The upgrade system includes: a connection assembly disposed on at least one of the frame, the cover, and the battery compartment; and a detection assembly disposed on the connection assembly, the detection assembly being configured to detect the location information and / or the vehicle's surroundings of the intelligent outdoor work vehicle. The system includes: a main control module for computing power, a main control module for computing power, a main control module for computing power, and a main control module for computing power. The main control module is connected to the vehicle controller and the detection components. The main control module is used to enable the intelligent outdoor work vehicle to avoid obstacles during operation. The detection components include a first type of detection component and a second type of detection component. The main control module acquires the location information and / or surrounding environmental information of the intelligent outdoor work vehicle based on the first type of detection component and generates a signal indicating the presence or absence of obstacles around the vehicle. The second type of detection component generates a signal indicating the presence or absence of obstacles around the vehicle based on its perception of the surrounding environment. The main control module sends the signal indicating the presence or absence of obstacles around the vehicle to the vehicle controller via a first communication bus. The second type of detection component sends the signal indicating the presence or absence of obstacles around the vehicle to the vehicle controller via a second communication bus. The vehicle controller controls the walking component and / or the working component to change their output power or stop operation based on the signal indicating the presence or absence of obstacles.

[0030] In some embodiments, the first type of detection component includes a first type of detection unit and a first type of detection controller, wherein the first type of detection controller generates a signal that can be recognized by the computing power main control module based on the signal output by the first type of detection unit.

[0031] In some embodiments, the second type of detection component includes a second type of detection unit and a second type of detection controller, wherein the second type of detection controller generates a signal indicating the presence or absence of obstacles around the intelligent outdoor work vehicle based on the signal output by the first type of detection unit.

[0032] In some embodiments, the existing outdoor operation vehicle further includes a power management device, and the computing power control module includes a first power connection terminal and a first power supply terminal. The computing power control module obtains the power of the power management device through the first power connection terminal and supplies power to the first type of detection component through the first power supply terminal.

[0033] In some embodiments, the existing outdoor work vehicle further includes a power management device. The vehicle controller is provided with a second power connection terminal and a second power supply terminal. The vehicle controller obtains electrical energy from the power management device through the second power connection terminal and converts the electrical energy, and supplies power to the second type of detector component through the second power supply terminal.

[0034] This application also provides a method for upgrading an existing outdoor work vehicle, for upgrading an existing outdoor work vehicle that does not have or does not fully have automatic operation functions into an intelligent outdoor work vehicle with fully automatic operation functions. The existing outdoor work vehicle includes: a frame; a cover covering at least a portion of the frame; a walking assembly configured to support the existing outdoor work vehicle's movement; an operation assembly configured to perform outdoor operations; an energy source system configured to provide a power source for the existing outdoor work vehicle, the energy source system including a battery compartment; and a vehicle controller configured to control the existing outdoor work vehicle to move in a predetermined direction and / or perform outdoor operations. The upgrade method includes the following steps: determining an installation position at least on the frame and / or cover of the existing outdoor work vehicle; installing a connection assembly at the installation position; installing a detection assembly on the connection assembly; assembling a computing power main control module on the existing outdoor work vehicle, and signal connecting the computing power main control module to the vehicle controller and at least a portion of the detection assemblies.

[0035] In some embodiments, determining the installation location on the existing outdoor work vehicle includes:

[0036] Positioning devices are used to locate and mark multiple locations on the frame and / or cover of the existing outdoor work vehicle, forming multiple marking points to be processed;

[0037] Multiple marking points on the vehicle frame and / or the cover are processed using processing equipment to form multiple mounting positions.

[0038] In some embodiments, the positioning device includes a plurality of fixtures with holes, each fixture being adapted to the shape of the location on the frame and / or the cover where the connecting components need to be installed;

[0039] Using a positioning device, multiple locations on the frame and / or cover of the existing outdoor work vehicle are located and marked to form multiple marker points to be processed, including:

[0040] Each of the fixtures is fitted to the location on the frame and / or the cover where the connecting components need to be installed. A marking tool is used to mark the corresponding holes on the frame and / or the cover, forming multiple marking points to be processed.

[0041] Multiple marking points on the vehicle frame and / or the cover are processed using processing equipment to form multiple mounting positions.

[0042] In some embodiments, positioning and marking are performed at multiple locations on the frame and / or cover of the existing outdoor work vehicle using a positioning device to form multiple marker points to be processed, including:

[0043] Based on the required height for installation of the connecting components, the positioning device is used to perform preliminary positioning of multiple points on the vehicle frame and / or the cover;

[0044] Adjust the height of the output end of the positioning device to adjust multiple preliminary positioning points on the vehicle frame and / or the cover to multiple determined positioning points, and mark the multiple determined positioning points to form multiple marked points to be processed.

[0045] In some embodiments, processing multiple marking points on the vehicle frame and / or the cover to form multiple mounting positions using a processing device includes:

[0046] The processing equipment is used to process multiple marking points on the vehicle frame and / or the cover at a preset height to form multiple mounting positions for installing connecting components at a preset height.

[0047] In some embodiments, the processing equipment includes a drilling device, and the processing includes drilling holes in the plurality of the marker points to be processed using the drilling device.

[0048] In some embodiments, determining the installation location on the existing outdoor work vehicle further includes:

[0049] Locate multiple reserved positions on the frame and / or cover of the existing outdoor work vehicle, and adjust these reserved positions into multiple mounting positions for installing connection components.

[0050] In some embodiments, the reserved position is a mounting hole;

[0051] Adjusting multiple reserved positions into multiple mounting positions for installing connection components includes:

[0052] Remove the plugs from the mounting holes and / or enlarge the mounting holes.

[0053] In some embodiments, the connecting component includes a first connector and a second connector that are adapted to the shape of the plurality of mounting positions. Both the first connector and the second connector are provided with a connection position for connecting the detection component. The first connector and its connection position are at a preset angle, and the second connector and its connection position are at a preset angle.

[0054] Installing the connection assembly at the installation location includes:

[0055] A first connector or a second connector adapted to the shape of the mounting position is provided on each of the plurality of mounting positions with preset heights, so that the first connector or the second connector is set on the corresponding mounting position according to a preset height and a preset angle, forming a connection position with a preset height and a preset angle on the first connector and / or the second connector.

[0056] In some embodiments, the detection component includes at least one of an ultrasonic sensor, a visual sensor, and a lidar.

[0057] Installing a detection component on the connection component includes:

[0058] At least one of the ultrasonic sensor, vision sensor, and lidar is positioned as needed at the connection position of the first connector and / or the connection position of the second connector, which have a preset height and a preset angle, so that at least one of the ultrasonic sensor, vision sensor, and lidar has a preset height and angle after installation.

[0059] In some embodiments, equipping the existing outdoor work vehicle with a computing power control module and connecting the computing power control module to the vehicle controller and at least some of the detection components includes:

[0060] The visual sensor and lidar are connected to the computing power control module via a first communication bus.

[0061] In some embodiments, the upgrade method further includes connecting the ultrasonic sensor to the vehicle controller via a second communication bus.

[0062] In some embodiments, the visual sensor is located at a height of 400mm to 680mm in the intelligent outdoor work vehicle.

[0063] In some embodiments, the preset angle range of the visual sensor relative to the horizontal plane is -15° to 5°.

[0064] In some embodiments, the lidar is located at a height of 420mm to 635mm on the intelligent outdoor work vehicle.

[0065] In some embodiments, the preset angle range of the lidar relative to the horizontal plane is 0° to 5°.

[0066] In some embodiments, the ultrasonic sensor is installed at a height of 345mm to 380mm on the intelligent outdoor work vehicle.

[0067] In some embodiments, the ultrasonic sensor has a preset angle range of 10° to 20° relative to the horizontal plane.

[0068] Compared with the prior art, the present invention has the following beneficial effects:

[0069] This application utilizes various types of sensors installed on the work vehicle. These sensors transmit signals to the vehicle controller through different pathways, and by complementing the detection range and accuracy of the different sensors, the work vehicle can identify people or objects in all directions within a safe distance. This enables outdoor work vehicles to detect people or objects from all directions in a timely and efficient manner while moving at high speeds, thus improving the safety of outdoor work vehicles during operation.

[0070] This application is used to upgrade outdoor work vehicles that do not have or do not fully have automatic operation functions to intelligent outdoor work vehicles with automatic operation functions, which can enable outdoor work vehicles to detect people or objects in all directions in a timely and efficient manner while in high-speed motion, thereby improving the safety of outdoor work vehicles during operation. [Image Description]

[0071] The specific embodiments of this application will be described in further detail below with reference to the accompanying drawings:

[0072] Figure 1 This is a 3D structural diagram of existing outdoor work vehicles;

[0073] Figure 2 This is a structural diagram of an existing outdoor work vehicle after holes are drilled in the frame, left cover, right cover, and tail cover (to determine the installation position);

[0074] Figure 3This is a structural diagram of an existing outdoor work vehicle from another angle after holes have been made in the frame, left cover, right cover, and tail cover (to determine the installation position);

[0075] Figure 4 This is a structural diagram of an existing outdoor work vehicle after the connecting components are installed on the frame, left cover, right cover and tail cover;

[0076] Figure 5 This is a schematic diagram of the structure of an existing outdoor work vehicle after the detection components are installed on the frame, left cover, right cover and tail cover;

[0077] Figure 6 This is a three-dimensional structural diagram of the outdoor operation vehicle in this application;

[0078] Figure 7 This is a schematic diagram of the front view structure of the outdoor operation vehicle in this application;

[0079] Figure 8 This is a schematic diagram of the left-side structure of the outdoor work vehicle in this application;

[0080] Figure 9 This is a schematic diagram of the right-side structure of the outdoor operation vehicle in this application;

[0081] Figure 10 This application contains a schematic diagram of the full-angle coverage structure of the ultrasonic sensor for outdoor work vehicles.

[0082] Figure 11 This application contains a schematic diagram of the full-angle coverage structure of the vision sensor for outdoor work vehicles.

[0083] Figure 12 This is a logic block diagram showing the control between the various sensors on the outdoor work vehicle and the vehicle in this application.

[0084] Figure 13 This is a structural schematic diagram showing the installation angle and height of some sensors on the outdoor operation vehicle in this application;

[0085] Figure 14 This is a structural schematic diagram showing the installation angle and height of another part of the sensors on the outdoor operation vehicle in this application;

[0086] Figure 15 This is a schematic diagram of the periscope structure on the outdoor work vehicle in this application;

[0087] Figure 16 This is a schematic diagram of the collision detection device on the outdoor work vehicle in this application;

[0088] Figure 17This is a schematic diagram showing the positional relationship between three adjacent sensors on one side of the outdoor work vehicle (front, rear, left, right).

[0089] Figure 18 This is a schematic diagram showing the positional relationship between the vision sensor on the outdoor work vehicle and the vehicle's direction of travel in this application;

[0090] Figure 19 This is a schematic diagram of the structure in this application showing how the ultrasonic sensor on the outdoor work vehicle is connected to the frame and cover via a connecting assembly;

[0091] Figure 20 This is a schematic diagram of the front structure of the outdoor work vehicle in this application;

[0092] Figure 21 This is a structural schematic diagram of the front of the outdoor work vehicle in this application from another angle;

[0093] Figure 22 This is a schematic diagram of the structure in which the annular mounting base and the cover are fitted together on the outdoor work vehicle in this application;

[0094] Figure 23 This is a partial enlarged view of the opening location of the cover on the outdoor work vehicle in this application;

[0095] Figure 24 This is a schematic diagram of the structure of the annular mounting bracket on the outdoor work vehicle in this application;

[0096] Figure 25 This is a schematic diagram of the structure of the outdoor work vehicle's cover and fixture after they are attached in this application;

[0097] Figure 26 This is a structural schematic diagram of the cover of the outdoor work vehicle in this application, showing the marked points;

[0098] Figure 27 This is a schematic diagram of the structure of the cover on the outdoor work vehicle in this application after the holes have been opened;

[0099] Figure 28 This is a schematic diagram of the structure of the connecting components and sensors installed on the cover of the outdoor operation vehicle in this application;

[0100] Figure 29 This is a schematic diagram showing at least partial overlap of the sensors at the rear of the outdoor work vehicle in this application;

[0101] Figure 30 This is a schematic diagram showing the connection between multiple ultrasonic sensors and an ultrasonic controller of the outdoor operation vehicle in this application;

[0102] Figure 31 This is a schematic diagram of the sensor installation structure on the push lawnmower in this application;

[0103] Figure 32 This is a schematic diagram of the structure of the all-terrain vehicle with sensors installed in this application. [Detailed Implementation]

[0104] The terminology used in this application is for the purpose of describing specific embodiments only and is not intended to limit the application. For example, terms such as "left," "right," "front," and "rear" that indicate orientation or positional relationship are based solely on the orientation or positional relationship shown in the accompanying drawings and are used only for the convenience of describing the application and simplifying the description, and are not intended to indicate or imply that the device referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the application.

[0105] Intelligent lawnmowers are widely welcomed by consumers because they can move autonomously within their work area and perform lawn mowing, freeing users from the tedious task of mowing.

[0106] However, for an automatic lawnmower to move and mow autonomously within its work area, it needs not only the ability to identify the work area but also the ability to identify obstacles around the machine. Especially in the commercial automatic lawnmower sector, due to the demands for cutting efficiency, automatic lawnmowers travel at relatively high speeds, making the ability to accurately and promptly identify obstacles around the machine increasingly crucial.

[0107] Outdoor work vehicles are functional vehicles used to perform specific tasks outdoors, especially ride-on lawnmowers. As a mechanical tool used for trimming lawns, vegetation, etc., it consists of components such as a frame, power source system, running gear, work components, and vehicle control unit (VCU).

[0108] In the current technology, most ride-on lawnmowers do not have, or are not fully automated, requiring users to operate them manually or in a semi-automatic manner. If the work area is large, long-term operation will place higher demands on the user's physical fitness, indirectly leading to an increase in outdoor work costs.

[0109] However, if users were to purchase brand-new, intelligent ride-on lawnmowers with automated operation capabilities, the cost would be high, and some customers would find it difficult to afford the expensive price, resulting in a weak willingness to buy. This would also affect the manufacturer's sales and economic benefits.

[0110] Furthermore, if users purchase smart ride-on lawnmowers with fully automatic operation functions, ride-on lawnmowers without or with incomplete automatic operation functions will be left idle, resulting in a waste of resources.

[0111] Please see Figure 1The image shows a conventional outdoor work vehicle in some embodiments disclosed in this application, including a frame 1, an operating component 2, a seat 3, a work component 4, a walking component 5, and an energy source system 6.

[0112] The frame 1 extends along a straight line, and the operating components 2, seat 3, work components 4, walking components 5, energy source system 6 and cover are located at different positions on the frame 1.

[0113] The operating component 2 includes a left operating lever 201 located on the left side of the existing outdoor work vehicle and a right operating lever 202 located on the right side. Operators control the existing outdoor work vehicle to move forward, backward, or turn by manipulating the left and right operating levers 201 and 202. The operating component 2 can also be a steering wheel that controls the existing outdoor work vehicle.

[0114] In some embodiments, the operating component 2 is provided with control buttons for adjusting the operating speed of the working component 4 and the traveling component 5, so as to facilitate the operator to quickly and accurately control the operation of the existing outdoor work vehicle. Furthermore, the operating component 2 may also be provided with buttons for adjusting the brightness of the vehicle's headlights 24, buttons for adjusting the cutter speed, etc.

[0115] The seat 3 is mounted on the frame 1, and the left control lever 201 and the right control lever 202 are positioned close to the seat 3 and located on the left and right sides of the seat 3 respectively, so that the operator sitting on the seat 3 can control the operation of the existing outdoor work vehicle by operating the left control lever 201 and the right control lever 202.

[0116] The working component 4 serves as the workpiece that realizes the tool function. In one embodiment, the existing outdoor work vehicle is specifically a ride-on lawnmower, and the working component 4 is specifically a cutting component, which is located below the frame 1. It is used to output power to realize the mowing function of the ride-on lawnmower.

[0117] In some embodiments, the cutting assembly includes a blade disc, a mowing element, and a cutting motor. The cutting motor is controlled by a control button on the operating assembly 2, and the mowing element is used to cut vegetation such as grasses when rotating at high speed. For example, the mowing element is a blade used to cut vegetation on a lawn. The blade disc forms a mowing space for accommodating the mowing element, which is at least partially located within the mowing space.

[0118] The working component 4 can also be detached from existing outdoor work vehicles. It is understood that the working component 4 can be replaced with other components to meet the usage needs of different landscaping operations. Therefore, the outdoor work vehicle can not only cut vegetation, but the cutting component can also be replaced with functional components such as snow shoveling, snow sweeping, snow blowing, and rinsing. Those skilled in the art should be able to adapt and replace various functional components without creative effort, and all of the above should be included in the protection scope of this embodiment.

[0119] When the cutting components are replaced with functional components such as snow shovel, snow sweeper, or snow blower, the energy source system 6 of the existing outdoor work vehicle of this application can also supply power to the aforementioned functional components such as snow shovel, snow sweeper, and snow blower.

[0120] The walking assembly 5 includes walking wheels mounted on the frame 1 and a walking motor 504 for driving the walking wheels. The walking wheels are located on both sides of the frame 1, so that the center of gravity of the existing outdoor work vehicle is kept within the frame 1, thereby reducing the probability of the existing outdoor work vehicle overturning when walking.

[0121] In one embodiment, the number of wheels is set to four, including two front wheels and two rear wheels. The front wheels can be omnidirectional wheels. A drive motor 504 is connected to the rear wheels to drive their rotation. Both rear wheels are matched with drive motors 504, which can be hub motors. The rotational speeds of the two drive motors 504 can be the same or different. When the operator is driving the existing outdoor work vehicle straight, the rotational speeds of the two drive motors 504 are approximately the same; when the operator is turning, the rotational speeds of the two drive motors 504 are different, and the existing outdoor work vehicle turns towards the side with the lower rotational speed of the drive motor 504. The diameter of the front wheels is smaller than the diameter of the rear wheels.

[0122] The energy source system 6 is located at the rear of the vehicle frame 1. The energy source system 6 includes multiple battery packs, a power management device 603 configured to uniformly manage the charging and discharging processes of the multiple battery packs, and a battery compartment 601 for mounting the multiple battery packs. The multiple battery packs are electrically connected to external terminals on the battery compartment 601 via terminals thereon to power the existing outdoor work vehicle. The multiple battery packs include first-type battery packs and second-type battery packs. Furthermore, the battery compartment 601 can be configured to accommodate first-type and second-type battery packs of different capacities or sizes to increase the compatibility of the existing outdoor work vehicle with different types of battery packs. At least one of the battery packs can be detached from the existing outdoor work vehicle to power other handheld power tools or energy storage devices, increasing the versatility of the battery packs. In some embodiments, the first-type battery pack includes a ternary lithium battery pack, and the second-type battery pack includes a lithium iron phosphate battery pack. In some embodiments, a tail cover 602 may also be provided on the battery compartment 601.

[0123] The existing outdoor work vehicles in this application also include at least a cover covering the frame, the cover including a left cover 7 located on the left side of the vehicle and a right cover 8 located on the right side of the vehicle.

[0124] like Figure 1 , Figure 2 and Figure 4As shown, in some embodiments, this application also provides an upgrade system for outdoor work vehicles. The upgrade system is at least used to upgrade existing outdoor work vehicles that do not have or do not fully have automatic operation functions to intelligent outdoor work vehicles with fully automatic operation functions. The existing outdoor work vehicle includes: a frame 1; a cover covering at least a portion of the frame 1; a walking assembly 5 configured to support the existing outdoor work vehicle to walk; an operation assembly 4 configured to perform outdoor operations; an energy source system 6 configured to provide a power source for the existing outdoor work vehicle, the energy source system 6 including a battery compartment 601; and a vehicle controller 33 configured to control the existing outdoor work vehicle to walk in a predetermined direction and / or perform outdoor operations.

[0125] like Figure 4 and Figure 12 As shown, the upgrade system includes: a connection component, disposed at least one of the frame 1, the cover, and the battery compartment 601; a detection component, disposed on the connection component, configured to detect the location information of the intelligent outdoor work vehicle and / or the environmental information around the vehicle; a computing power main control module 31, signal-connected to the vehicle controller 33 and the signal-connected detection component, the computing power main control module 31 being used at least to enable the intelligent outdoor work vehicle to avoid obstacles during driving; the detection component includes a first type of detection component and a second type of detection component, the computing power main control module 31 acquiring the location information of the intelligent outdoor work vehicle and / or the surrounding environmental information based on the first type of detection component and generating a signal indicating the presence or absence of obstacles around the vehicle, the second type of detection component generating a signal indicating the presence or absence of obstacles around the vehicle based on its perception of the environment around the intelligent outdoor work vehicle; both the computing power main control module 31 and the second type of detection component send a signal indicating the presence or absence of obstacles around the intelligent outdoor work vehicle to the vehicle controller 33, the vehicle controller 33 controlling the walking component 5 and / or the working component 4 to change the output power or stop the operation based on the signal indicating the presence or absence of obstacles.

[0126] In this application, the detection information of the first type of detection components is processed by the computing power main control module 31 and then transmitted to the vehicle controller 33 for processing. In addition, the detection information of the second type of detection components is directly transmitted to the vehicle controller 33, realizing differentiated information processing for different types of detection components according to their respective functional attributes.

[0127] like Figure 12 In some embodiments, the computing power control module 31 sends a signal indicating the presence or absence of obstacles around the vehicle to the vehicle controller 33 via a first communication bus, and the second type of detection component sends a signal indicating the presence or absence of obstacles around the vehicle to the vehicle controller 33 via a second communication bus. Through this method, the vehicle controller 33 can obtain information from the first type of detection component via different first communication buses and information from the second type of detection component via the second communication bus.

[0128] In some embodiments, the computing power control module 31 and the second type of detection component send signals to the vehicle controller 33 via the same communication bus to indicate whether there are obstacles around the vehicle.

[0129] In some embodiments, the first type of detection component includes a first type of detection unit and a first type of detection controller. The first type of detection controller generates a signal that can be recognized by the computing power main control module 31 based on the signal output by the first type of detection unit.

[0130] In some embodiments, the first type of detection unit includes a visual capture lens of a visual sensor and a laser emitter of a lidar 21, and the first type of detection controller includes a visual controller that receives information from the visual capture lens and a laser controller that receives capture information from the laser emitter of the lidar 21.

[0131] In some embodiments, the second type of detection component includes a second type of detection unit and a second type of detection controller, the second type of detection controller generating a signal indicating the presence or absence of obstacles around the intelligent outdoor work vehicle based on the signal output by the first type of detection unit.

[0132] In some embodiments, the second type of detection unit includes an ultrasonic transmitter of an ultrasonic sensor 18, and the second type of detection controller includes an ultrasonic controller 181 that receives information from the ultrasonic transmitter.

[0133] It should be noted that the angle and height settings of the sensors involved in this application are based on the center point of the sensor lens or the center point of the sensor's transmitter head. For example: when setting the height of a vision sensor, the distance between the center point of the vision capture lens and the ground is used as the reference; when setting the angle of the vision sensor, the angular relationship between the emission direction of the center point of the vision capture lens and other references (such as the horizontal plane, the vehicle's direction of travel, etc.) is used as the reference. When setting the height of a lidar, the distance between the center point of the lidar's laser transmitter head and the ground is used as the reference; when setting the angle of the lidar, the angular relationship between the emission direction of the laser transmitter head and other references (such as the horizontal plane, the vehicle's direction of travel, etc.) is used as the reference. When setting the height of an ultrasonic sensor, the distance between the center point of the ultrasonic transmitter head and the ground is used as the reference; when setting the angle of the ultrasonic sensor, the angular relationship between the emission direction of the ultrasonic transmitter head and other references (such as the horizontal plane, the vehicle's direction of travel, etc.) is used as the reference.

[0134] In some embodiments, the existing outdoor operation vehicle further includes a power management device 603. The computing power control module 31 includes a first power connection terminal and a first power supply terminal. The computing power control module 31 obtains power from the power management device 603 through the first power connection terminal and supplies power to the first type of detection component through the first power supply terminal. Further, the power management device 603 reduces the voltage obtained from the battery pack to 12V-36V through its step-down module and then supplies power to the computing power control module 31 through the first power connection terminal. The computing power control module 31 then supplies power to the first type of detection component through the first power supply terminal.

[0135] In some embodiments, existing outdoor work vehicles further include a power management device 603. The vehicle controller 33 is provided with a second power connection terminal and a second power supply terminal. The vehicle controller 33 obtains electrical energy from the power management device 603 through the second power connection terminal and converts the electrical energy to supply power to the second type of detector assembly through the second power supply terminal. Further, the power management device 603, through its step-down module, reduces the voltage obtained from the battery pack to 12V-36V and then transmits it to the vehicle controller 33 through the second power connection terminal. The vehicle controller 33, through its step-down module, further reduces the voltage and then supplies power to the second type of detector assembly through the second power supply terminal.

[0136] like Figure 12 In some embodiments, the operating component 4 is a cutting unit, which includes a cutter motor 402 and a cutter controller 401 that controls the operation of the cutter motor 402. The vehicle controller 33 transmits the detection information from the detection component to the cutter controller 401, which then controls the operation of the cutter motor 402. In some embodiments, the cutter controller 401 receives power from the power management device 603.

[0137] like Figure 12 In some embodiments, the walking assembly 5 further includes a walking controller 503 and a walking motor 504. The vehicle controller 33 transmits the detection information from the detection assembly to the walking controller 503, which then controls the operation of the walking motor 504. In some embodiments, the walking controller 503 receives power from the power management device 603. In this application, the second walking wheel 502 is driven by the walking motor 504.

[0138] like Figure 4 As shown, in some embodiments, the computing power control module 31 is located between the seat 3 and the battery compartment 601 of the intelligent outdoor work vehicle; and / or, the computing power control module 31 is located above the seat 3 of the intelligent outdoor work vehicle.

[0139] like Figure 1 and Figure 6As shown, it should be noted that the intelligent outdoor work vehicle in this embodiment is obtained by upgrading an existing outdoor work vehicle. Therefore, the components on both vehicles, such as the frame 1, operating component 2, seat 3, working component 4, walking component 5, energy source system 6, and coverings (including left cover 7, right cover 8, battery compartment 601, and tail cover 602), are identical. Only a few components may have openings or other mounting positions due to installation requirements; the essential functions remain unchanged. Therefore, no distinguishing marks are made in the accompanying drawings relating to the above-mentioned components on the existing outdoor work vehicle and the intelligent outdoor work vehicle.

[0140] The existing outdoor work vehicles without automatic operation functions disclosed in this application can be understood as follows: the existing outdoor work vehicles need to be manually judged and operated to move (including forward, reverse and turn) in the work area, operate (including start and stop of work component 4, adjustment of work power and lifting) and brake. The vehicles only have simple functions such as adaptive cruise control, vehicle speed detection and reversing detection (including setting reversing radar).

[0141] Existing outdoor work vehicles that do not fully possess automated operation capabilities can be understood as vehicles equipped with only a portion of driver assistance sensors (e.g., one or two of ultrasonic sensors 18, visual sensors, and lidar 21), possessing semi-automatic operation functions. These vehicles can only perform corresponding automatic cruise control and simple obstacle recognition (such as reversing radar) in basic situations. This allows drivers to temporarily free their hands, but manual intervention and control must be readily available. It can also include vehicles capable of partially automated operation in specific environments, able to determine whether to maintain automated operation in certain areas or revert to manual control based on road conditions.

[0142] Fully automated intelligent outdoor work vehicles can be understood as highly automated vehicles capable of operating without any human intervention. However, there are limitations, such as a speed limit and a relatively fixed driving area. They generally rely on real-time updated information data about the work area to achieve automatic vehicle retrieval and return, automatic platooning, and automatic obstacle avoidance (including automatic lifting and lowering of the work components and vehicle steering).

[0143] like Figure 3 As shown, in some embodiments, the frame 1 and / or the cover are provided with a plurality of mounting positions with a preset height. In some embodiments, the plurality of mounting positions are formed by at least one of a first mounting hole 9, a second mounting hole 10, and a third mounting hole 11. Of course, the mounting positions are not limited to hole mechanisms, but can also be groove structures or other structures that can meet the mounting requirements of the sensor.

[0144] like Figure 4 and Figure 5 As shown, in some embodiments, the connecting component includes a first connector and a second connector, both of which can be installed at a preset height in multiple mounting positions.

[0145] like Figures 5 to 9 As shown, in some embodiments, the detection component includes multiple first sensors and multiple second sensors. The multiple first sensors and multiple second sensors can be disposed on a first connector or a second connector having a preset height. The multiple first sensors and multiple second sensors have preset detection height and detection angle.

[0146] like Figure 10 As shown, in some embodiments, the combined detection range of the multiple first sensors provides full-angle coverage around the existing outdoor work vehicle. The first sensor is an ultrasonic sensor 18.

[0147] In another embodiment, the first sensor may also be a millimeter-wave radar, an infrared radar, or the like.

[0148] like Figure 11 As shown, in some embodiments, the combined detection range of multiple second sensors provides full-angle coverage around the existing outdoor work vehicle. The second sensors are vision sensors.

[0149] In some embodiments, the detection ranges of any two adjacent sensors among the plurality of first sensors and the plurality of second sensors at least partially overlap.

[0150] like Figure 13 As shown, in some embodiments, the detection direction of the first sensor is set at a first preset angle relative to the horizontal plane, and the detection direction of the second sensor is set at a second preset angle relative to the horizontal plane. In some embodiments, the range of the first preset angle is 10° to 20°, and in some embodiments, the first preset angle is 10°, 15°, and 20°. The range of the second preset angle is -15° to 5°, and in some embodiments, the second preset angle is -15°, -11°, -9°, 0°, or 5°.

[0151] like Figure 13 As shown, in some embodiments, the height range of the first sensor installation is 250mm to 280mm, and the height range of the second sensor installation is 400mm to 680mm. In some embodiments, the first sensor includes an ultrasonic sensor 18, and the second sensor includes a monocular camera 19, a multi-view camera, or a depth camera. The multi-view camera can be a binocular camera 20 or a tri-view camera.

[0152] Please combine Figure 6 , Figure 8 and Figure 13 In some embodiments, the first sensor is an ultrasonic sensor 18. In this application, three ultrasonic sensors 18 are provided on the front side of existing outdoor work vehicles. The installation height H1 of the three ultrasonic sensors 18 is 373mm and the installation angle α1 relative to the horizontal plane is 15°.

[0153] Please combine Figure 7 and Figure 13 The intelligent outdoor operation vehicle is equipped with three ultrasonic sensors 18 on both the left and right sides. The installation height H2 of the three ultrasonic sensors 18 on the left side of the existing outdoor operation vehicle is 373mm and the installation angle α2 relative to the horizontal plane is 15°. The installation height H2 of the three ultrasonic sensors 18 on the right side of the existing outdoor operation vehicle is 373mm and the installation angle α2 relative to the horizontal plane is 15°.

[0154] Please combine Figure 9 and Figure 14 The intelligent outdoor operation vehicle is equipped with four ultrasonic sensors 18 at the rear. The height H3 of the four ultrasonic sensors 18 is 346.8 mm and the installation angle α3 relative to the horizontal plane is 15°.

[0155] like Figure 10 As shown above, the intelligent outdoor work vehicle is equipped with a total of 13 ultrasonic sensors 18 on the front, left, right and rear sides. Among the 13 ultrasonic sensors 18, the detection range of any two adjacent ultrasonic sensors 18 overlaps at least partially, so as to achieve full-angle coverage of the existing outdoor work vehicle by the combination of 13 ultrasonic sensors 18.

[0156] It's important to understand that, relative to the horizontal plane, the preset upward angle is a positive value, and the preset downward angle is a negative value. The following angle descriptions also apply.

[0157] In some embodiments, the ultrasonic sensor 18 of this application operates at a voltage range of 9V to 16V. The maximum operating current of the ultrasonic sensor 18 is less than or equal to 20mA. The operating temperature range of the ultrasonic sensor 18 is -40℃ to +85℃. The operating humidity range of the ultrasonic sensor 18 is 20% RH to 95% RH. The storage temperature range of the ultrasonic sensor 18 is -40℃ to +85℃. The detection blind zone of the ultrasonic sensor 18 is less than or equal to 20cm. The protection rating of the ultrasonic sensor 18 after high and low temperature testing must reach IP67 level. The operating frequency of the ultrasonic sensor 18 is 56kHz to 60kHz.

[0158] In some embodiments, the ultrasonic sensor 18 is configured to detect children (including prone and standing positions), adults, and other obstacles within a 1m range.

[0159] In some embodiments, the ultrasonic controller 18 operates at a voltage range of 9V to 16V, has a rated voltage of 12V, a maximum operating current of ≤150mA, an operating temperature range of -20℃ to +85℃, an operating humidity range of 20% RH to 95% RH, a storage temperature range of -40℃ to +85℃, a storage humidity range of 20% RH to 95% RH, and an IP52 protection rating.

[0160] like Figure 13 As shown, in some embodiments, the second sensor is a vision sensor. A vision sensor is installed on the front side of the intelligent outdoor work vehicle. The installation height H4 of this vision sensor is 585mm, and the angle α4 relative to the horizontal plane is 0°.

[0161] like Figure 14 As shown, one vision sensor is installed on the left and one on the right of the existing outdoor work vehicle. The installation height H5 of the vision sensor on the left side of the intelligent outdoor work vehicle is 640mm and the installation angle α5 relative to the horizontal plane is -11°. The installation height H5 of the vision sensor on the right side of the intelligent outdoor work vehicle is 640mm and the installation angle α5 relative to the horizontal plane is -11°.

[0162] like Figure 9 and Figure 14 Two vision sensors are installed at the rear of the existing outdoor work vehicle. The installation height H6 of these two vision sensors is 475mm, and the angle α6 relative to the horizontal plane is -9°.

[0163] like Figure 13 As shown, in some embodiments, in the direction of travel of the intelligent outdoor work vehicle of this application, the arrangement of one visual sensor located at the front of the intelligent outdoor work vehicle is as follows: it is set directly in front of the intelligent outdoor work vehicle, and the angle between it and the direction of travel of the intelligent outdoor work vehicle is 0°.

[0164] Combination Figure 11 and Figure 18 The angle α7 between the visual sensors located on the left and right sides of the intelligent outdoor work vehicle and the direction of travel of the existing outdoor work vehicle is in the range of 60° to 70°. In some embodiments, the angle α7 between the visual sensors located on the left and right sides of the intelligent outdoor work vehicle and the direction of travel of the intelligent outdoor work vehicle is 60°, 64° or 70°.

[0165] Combination Figure 11 and Figure 18 The angle α8 between the two visual sensors located at the rear of the intelligent outdoor work vehicle and the direction of travel of the intelligent outdoor work vehicle ranges from 25° to 35°. In some embodiments, the angle α8 between the two visual sensors located at the rear of the intelligent outdoor work vehicle and the direction of travel of the intelligent outdoor work vehicle is 25°, 30°, or 35°.

[0166] like Figure 11 As shown above, a total of 5 visual sensors are installed on the front, left, right and rear sides of the intelligent outdoor operation vehicle. The detection range of any two adjacent visual sensors overlaps at least partially, so as to achieve full-angle coverage of the existing outdoor operation vehicle by combining the 5 visual sensors.

[0167] like Figure 6 and Figure 11 As shown, the upgraded system of this application further includes one monocular camera 19 located at the front of the vehicle, one binocular camera 20 on each of the left and right sides of the existing outdoor work vehicle, and two monocular cameras 19 located at the rear of the intelligent outdoor work vehicle.

[0168] In some embodiments, the upgraded system of this application further includes a third sensor for placement on the front side of an existing outdoor work vehicle. The purpose of the third sensor includes, but is not limited to, detecting the area in front of the vehicle while it is in motion.

[0169] In some embodiments, the visual sensor of this application is configured to detect obstacles within a range of at least 5m.

[0170] In some embodiments, the monocular camera 19 of this application has a resolution of 1920H*1536V. The pixel size of the monocular camera 19 is 3.0μm*3.0μm. The dimensions of the monocular camera 19 are: length 20mm~30mm, width 20mm~30mm, and height 15mm~25mm. The weight of a single monocular camera 19 is less than 50g. The normal operating temperature range of the monocular camera 19 is -40℃ to +85℃. The rated current of the monocular camera 19 is less than 200mA. The rated voltage of the monocular camera 19 is 9V~16V.

[0171] In some embodiments, the resolution of the binocular camera 20 of this application is 1920H*1200V. The pixel size of the binocular camera 20 is 3.0μm*3.0μm. The dimensions of the binocular camera 20 are: length: 160mm~175mm, width: 23mm~33mm, height: 30mm~40mm. The weight of a single binocular camera 20 is less than 50g. The normal operating temperature range of the binocular camera 20 is -40℃ to +70℃. The rated current of the binocular camera 20 is less than 100mA. The rated voltage of the binocular camera 20 is 9V~16V.

[0172] In some embodiments, the third sensor is positioned at a third preset angle relative to the horizontal plane. In some embodiments, the third sensor is a lidar 21.

[0173] like Figure 13 In some embodiments, the third preset angle α9 of the lidar 21 relative to the horizontal plane ranges from 0° to 5°. In some embodiments, the third preset angle α9 of the lidar 21 relative to the horizontal plane is 0°, 3°, or 5°.

[0174] like Figure 13 In some embodiments, the installation height H7 of the lidar 21 is 615mm to 635mm. In other embodiments, the installation height H7 of the lidar 21 is 615mm, 625mm or 635mm.

[0175] In some embodiments, the lidar 21 is configured to detect obstacles within a range of at least 20m. The lidar 21 works in conjunction with a visual sensor to make more accurate identification and judgment, and is used to predict and make driving obstacle avoidance strategies such as deceleration or avoidance in advance.

[0176] In some embodiments, the laser wavelength of the lidar 21 of this application is 850nm to 950nm, the operating voltage of the lidar 21 is 9V to 34V, and the operating temperature of the lidar 21 is -40℃ to +85℃. The rated power of the lidar 21 is 8W to 12W, the safety protection level of the lidar 21 is IP67, and the dimensions of the lidar 21 are: length 95mm to 120mm, width 90mm to 110mm, and height 75mm to 95mm.

[0177] It should be noted that the detection range of the aforementioned sensors is no less than the braking distance of the upgraded intelligent outdoor work vehicle.

[0178] The ultrasonic sensor 18, vision sensor, and lidar 21 in this application are each numbered at their respective mounting locations on the vehicle frame 1 and / or the cover. When the ultrasonic sensor 18, vision sensor, and lidar 21 at different locations detect an obstacle, they can identify the specific location of the obstacle on the vehicle through the sensor corresponding to the number at the different location, so as to perform corresponding obstacle avoidance processing.

[0179] like Figure 6 , Figure 8 and Figure 9 As shown, in some embodiments, the existing outdoor work vehicles of this application can also utilize the RTK system 32 for location positioning. The RTK system 32 includes a satellite positioning receiving antenna 22, a satellite positioning mobile station, and an RTK base station. The satellite positioning receiving antenna 22 and the satellite positioning mobile station are used to be installed on a mobile work vehicle, while the RTK base station is used to be fixed at a certain location in the work area.

[0180] In some embodiments, the satellite positioning receiving antenna 22 is used to receive satellite signals and transmit the received satellite signals to the satellite positioning mobile station, which is connected to the computing power main control module 31.

[0181] The satellite positioning mobile station can also be other satellite positioning mobile devices, or other positioning devices that can work with RTK base stations to achieve real-time positioning. The satellite positioning receiving antenna 22 transmits the received satellite signals and the satellite signals received by the RTK base station to the satellite positioning mobile station. Then, the satellite positioning mobile station uses the differential data of the two to correct the satellite positioning coordinates (i.e., the positioning coordinates of the intelligent outdoor work vehicle) and outputs them to the computing power main control module 31, thereby realizing the positioning of the outdoor work vehicle.

[0182] The vehicle controller 33 can control the outdoor work vehicle to perform operations and / or functions such as driving, map selection, recall, offset, and lawn mowing, realizing the intelligent driving function or automatic operation function of the outdoor work vehicle. The vehicle controller 33 may further include a map generation and management module, a trajectory planning module, and a lawn mowing operation control module.

[0183] In some embodiments, the computing power control module can also process task information such as map generation, management module, and trajectory planning.

[0184] like Figure 6 and Figure 7As shown, in some embodiments, two satellite positioning receiving antennas 22 are provided, and the distance between the two satellite positioning receiving antennas 22 ranges from 260mm to 1300mm. In some embodiments, the distance between the two satellite positioning receiving antennas 22 is 260mm, 380mm, or 1300mm. In some embodiments, the height between the two satellite positioning receiving antennas 22 is different.

[0185] like Figure 8 As shown, in some embodiments, the two satellite positioning receiving antennas 22 are not collinear, either parallel or perpendicular to the travel direction of the existing outdoor work vehicle. The satellite positioning receiving antenna 22 can be installed on the front, rear, or other suitable locations of the existing outdoor work vehicle. Furthermore, the satellite positioning receiving antenna 22 can be directly installed on the frame 1, the seat 3, or the battery compartment 601.

[0186] In some embodiments, the signal connection between the detection component and the computing power main control module 31 and the vehicle controller 33 can be a wiring harness connection or a wireless communication connection.

[0187] like Figure 15 As shown, in some embodiments, to further improve the fitting degree of the visual sensor and the lidar 21 in terms of detection information, the upgraded system of this application further includes: providing a periscope structure 30, by setting one end of the periscope structure 30 on the mask 2101 of the lidar 21 and connecting the other end of the periscope structure 30 to the camera of the visual sensor, so that the periscope structure 30 transmits the information acquired by it on the mask 2101 of the lidar 21 to the visual sensor. In some embodiments, by physically locating them close together, the laser emitter of the lidar 21 and the lens of the periscope structure 30 are minimized as much as possible. The periscope structure 30 then transmits the information entering the periscope structure 30 tube to the visual sensor, thus making the light-collecting point distance between the lidar 21 and the visual sensor closer, further improving the fitting degree of their detection information, and thereby improving the accuracy of existing outdoor operation vehicles in recognizing the surrounding detection information.

[0188] In this application, the monocular camera 19 or the binocular camera 20 can be fitted with the lidar 21 through the periscope structure 30 as described above.

[0189] In some embodiments, the upgrade system of this application also includes a hub motor. By replacing the front and rear wheels of the existing outdoor work vehicle with new front and rear wheels made of hub motors, and by installing ultrasonic sensors 18, visual sensors, lidar 21, millimeter-wave radar, infrared night vision devices, thermal imagers or microwave radars on the hub motors according to actual usage requirements, the detection capability of the existing outdoor work vehicle to the external environment is improved, the detection blind spots are reduced, and the safety of the existing outdoor work vehicle during operation is improved.

[0190] like Figure 12 As shown, in some embodiments, the upgrade system of this application further includes an IMU sensor. The IMU sensor, with the aid of a built-in accelerometer and gyroscope, can measure linear acceleration and rotational angular rate from three directions, and calculate information such as the carrier's attitude, velocity, and displacement. This acquired information is then processed by the computing power control module 31 and transmitted to the vehicle controller 33 (VCU). The vehicle controller 33 (VCU) then controls the operation of the walking component 5 and the working component 4 based on the information processed by the computing power control module 31. For example, it controls the vehicle to decelerate or stop, and controls the working component 4 to reduce power or stop operation.

[0191] like Figure 12 As shown, in some embodiments, the upgraded system of this application further includes an Odo sensor. The Odo sensor calculates the mileage of the outdoor work vehicle and transmits the corresponding information to the vehicle controller 33 (VCU) after processing by the computing power main control module 31. The vehicle controller 33 (VCU) then controls the operation of the walking component 5 and the work component 4 based on the information processed by the computing power main control module 31. For example, it controls the vehicle to decelerate, turn, and make U-turns, and controls the work component 4 to reduce power or stop operating.

[0192] like Figures 2 to 6 As shown, this application also discloses an upgrade method for outdoor work vehicles, used to upgrade existing outdoor work vehicles that do not have or do not fully have automatic operation functions to intelligent outdoor work vehicles with fully automatic operation functions. The upgrade method includes the following steps:

[0193] The installation location should be determined at least on the frame 1 and / or cover of an existing outdoor work vehicle;

[0194] Install the connection components at the installation location;

[0195] Install the probe component on the connection component;

[0196] A computing power main control module 31 is installed on an existing outdoor operation vehicle, and the computing power main control module 31 is connected to the vehicle controller 33 and at least to some of the detection components.

[0197] In this application, the order of the upgrade steps is not specifically limited. As long as the above upgrade method can upgrade existing outdoor work vehicles that do not have or do not fully have automatic operation functions to intelligent outdoor work vehicles with automatic operation functions, it is acceptable.

[0198] In some embodiments, the connection component and the detection component may be installed first, and then the computing power control module 31 may be installed.

[0199] In some embodiments, the main computing power control module 31 may be installed first, followed by the installation of the connection components and the detection components.

[0200] In some embodiments, the upgrade method of this application further includes securing the existing outdoor work vehicle. Further, securing the existing outdoor work vehicle includes: clamping the frame 1 or wheels of the existing outdoor work vehicle with a clamp; or, lifting the existing outdoor work vehicle with a lifting device and removing it from the ground.

[0201] Furthermore, securing existing outdoor work vehicles also includes: using the vehicle's own braking structure to brake the vehicle and thus secure it.

[0202] Furthermore, securing the existing outdoor work vehicle also includes: driving the existing outdoor work vehicle to a position that can limit the wheels or frame 1, for example, driving the existing outdoor work vehicle to a recess that limits the wheels.

[0203] like Figure 26 In some embodiments, determining the installation location on an existing outdoor work vehicle includes: using a positioning device to locate and mark multiple locations on the frame 1 and / or cover of the existing outdoor work vehicle to form multiple mark points 801 to be processed; and using a processing device to process the multiple mark points 801 to be processed on the frame 1 and / or cover to form multiple installation positions.

[0204] like Figure 25 In some embodiments, the positioning device includes multiple fixtures 37 with holes 371, each fixture 37 being adapted to the shape of the location on the frame 1 and / or the cover where the connecting component needs to be installed. It should be noted that, for aesthetic reasons and other factors, the outer surface of the cover is often curved. The fixture described in this embodiment is a prefabricated surface that perfectly matches the shape of a specific location on the cover. This specific location refers to the location that guides the connection component. In other words, setting the fixture at any other location on the cover besides this location will not achieve a perfect fit.

[0205] Using a positioning device, multiple locations are located and marked on the frame 1 and / or cover of an existing outdoor work vehicle to form multiple marker points 801 to be processed, including:

[0206] like Figure 25 and Figure 26 Each fixture 37 is attached to the position on the frame 1 and / or the cover where the connecting component needs to be installed. The frame 1 and / or the cover corresponding to the hole 371 is marked with a marking tool to form multiple marking points 801 to be processed.

[0207] Multiple marking points 801 on the frame 1 and / or cover are machined using machining equipment to form multiple mounting positions. Similarly, holes are drilled one by one on the frame and cover to meet the requirements for mounting the detection components.

[0208] like Figure 25 As shown, in some embodiments, it should be noted that, due to the different installation positions of the detection components on existing outdoor work vehicles (the above-mentioned marker points 801 to be processed), and the different structures of the frame 1 and the cover of the existing outdoor work vehicles at different locations, the specific structure of each fixture 37 is also different at different locations on the frame 1 or the cover, but each fixture 37 should meet the requirements of fitting the frame 1 or the cover.

[0209] In some embodiments, the marking tool may be a marker, chalk, or other tool with marking functionality.

[0210] In some embodiments, positioning and marking multiple locations on the frame 1 and / or cover of an existing outdoor work vehicle using a positioning device to form multiple marker points 801 to be processed includes: performing preliminary positioning of multiple points on the frame 1 and / or cover using the positioning device according to the height required when installing the connecting components; adjusting the height of the output end of the positioning device to adjust the multiple preliminary positioning points on the frame 1 and / or cover to multiple determined positioning points, and marking the multiple determined positioning points to form multiple marker points 801 to be processed.

[0211] In some embodiments, the positioning device includes a total station, a laser rangefinder, and a high-precision rangefinder. Of course, the positioning device can also be other devices capable of locating the height of the marker points 801 to be processed on the frame 1 or cover of an existing outdoor work vehicle.

[0212] like Figure 2 , Figure 3 and Figure 25In some embodiments, processing multiple marker points 801 on the frame 1 and / or cover to form multiple mounting positions using processing equipment includes: processing multiple marker points 801 on the frame 1 and / or cover to form multiple mounting positions for installing connecting components at a preset height using processing equipment.

[0213] In some embodiments, the processing equipment includes a drilling device, and the processing includes drilling a plurality of marker points 801 to be processed using the drilling device.

[0214] In some embodiments, the processing equipment includes electric drilling machines and electric grinders, etc.

[0215] In some embodiments, the processing equipment includes a manual hole-making device and sandpaper, etc.

[0216] by Figure 27 For example, in some embodiments, determining the installation location on an existing outdoor work vehicle further includes: finding multiple reserved locations on the frame 1 and / or cover of the existing outdoor work vehicle, and adjusting the multiple reserved locations into multiple installation positions for installing the connecting components.

[0217] by Figure 27 For example, in some embodiments, the reserved positions are mounting holes; adjusting multiple reserved positions into multiple mounting positions for mounting connection components includes: removing the plugs on the mounting holes and / or enlarging the mounting holes to make them meet the requirements for mounting the detection components.

[0218] It is important to understand that existing outdoor work vehicles (basic models) without automated operation functions are pre-installed with mounting holes during the initial production and assembly process for future upgrades to intelligent outdoor work vehicles (upgraded models) with automated operation functions.

[0219] like Figure 24 In some embodiments, the connecting component includes a first connector and a second connector that are adapted to the shape of multiple mounting positions. Both the first connector and the second connector are provided with a connection position 121 for connecting the detection component. The first connector and the connection position 121 thereon form a preset angle, and the second connector and the connection position 121 thereon form a preset angle.

[0220] In some embodiments, installing the connecting component at the installation position includes: setting a first connector or a second connector adapted to the shape of the installation position at each of a plurality of installation positions having a preset height, such that the first connector or the second connector is set at the corresponding installation position at a preset height and a preset angle, and forming a connection position 121 with a preset height and a preset angle on the first connector and / or the second connector.

[0221] In some embodiments, the detection components include at least one of an ultrasonic sensor 18, a vision sensor, and a lidar 21. The vision sensor includes a monocular camera 18, a binocular camera 19, and a depth camera.

[0222] like Figure 28 Installing the detection component on the connection component includes: setting at least one of the ultrasonic sensor 18, the vision sensor, and the lidar 21 as needed at the connection position 121 of the first connector and / or the connection position 121 of the second connector, which have a preset height and a preset angle, so that at least one of the ultrasonic sensor 18, the vision sensor, and the lidar 21 has a preset height and angle after installation.

[0223] In some embodiments, the vision sensor is a monocular camera 19, a binocular camera 20, or a depth camera.

[0224] In some embodiments, equipping an existing outdoor work vehicle with a computing power control module 31 and connecting the computing power control module 31 to the vehicle controller 33 and at least some of the detection components includes:

[0225] like Figure 12 As shown, the visual sensor and lidar 21 are connected to the computing power control module 31 through the first communication bus.

[0226] like Figure 12 As shown, in some embodiments, the upgrade method further includes connecting the ultrasonic sensor 18 to the vehicle controller 33 via a second communication bus.

[0227] In some embodiments, the detection component further includes at least one of millimeter-wave radar, infrared night vision device, and thermal imager.

[0228] In some embodiments, the upgrade method of this application further includes: directly installing the connection component in a reserved location (such as a mounting hole), and then setting a detection component on the connection component.

[0229] It is important to understand that the detection height mentioned above is related to the type of obstacle (e.g., children, adults) and / or its state (e.g., lying down, standing). The detection angle mentioned above is related to whether it covers the entire perimeter of the work vehicle and the size of the blind spot.

[0230] The following is a detailed description of the upgrade methods for the ultrasonic sensor 18 in some embodiments:

[0231] like Figure 10 As shown, the upgrade method of this application includes: setting multiple ultrasonic sensors 18 around the existing outdoor work vehicle, and the detection range of the multiple ultrasonic sensors 18 covers the entire perimeter of the existing outdoor work vehicle.

[0232] like Figure 2 and Figure 3 As shown, the upgrade method for the ultrasonic sensor 18 includes opening a plurality of first mounting holes 9 on the rear cover 602 of the battery compartment 601 of the frame 1, left cover 7, right cover 8, and the chassis 1.

[0233] Furthermore, in addition to providing the first mounting hole 9 on the tail cover 602 of the battery compartment 601, the first mounting hole 9 can also be provided on the battery compartment 601.

[0234] like Figure 25 As shown, the method for creating multiple first mounting holes 9 includes: fitting the jig 37 to the frame 1, left cover 7, right cover 8 and the rear cover 602 of the battery compartment 601; marking points 801 on the frame 1, left cover 7, right cover 8 and the rear cover 602 of the battery compartment 601 through the holes 371 on the jig 37; and then processing (drilling, etc.) on the marking points 801 using processing equipment to form the first mounting holes 9.

[0235] Combination Figures 2 to 5 and Figure 27 and Figure 28 This allows each of the multiple first mounting holes 9 to be set at a preset height. Then, a first connector is set on each of the multiple first mounting holes 9. Since the first connector has a connection position 121 at a preset angle, after one or more ultrasonic sensors 18 are installed on the connection position 121 of each first connector, the installed one or more ultrasonic sensors 18 will have a preset height and a preset angle.

[0236] In some embodiments, the first mounting hole 9 can be a hole of different diameter or shape, or it can be a combination of multiple holes.

[0237] like Figure 4 As shown, in some embodiments, the first connector may be one or more of the first mounting bracket 12, the second mounting bracket 13, and the third mounting bracket 14.

[0238] like Figure 4As shown, in some embodiments, the first mounting bracket 12 is an annular mounting base with a hollow internal structure. The ultrasonic sensor 18 is installed inside the hollow structure of the annular mounting base by snap-fit. In some embodiments, when the first connector is an annular mounting base, the hollow internal structure of the annular mounting base serves as the connection position 121 for connecting the ultrasonic sensor 18. This hollow structure can be circular, and the circular hollow structure forms a preset angle with the entire annular mounting base. When the annular mounting base is installed in the first mounting hole 9, and then the ultrasonic sensor 18 is installed in the annular mounting base, the ultrasonic sensor 18 will have a preset height and angle at that position.

[0239] In some embodiments, the annular mounting base can be of different ring shapes to fit the external structure of existing outdoor work vehicles.

[0240] like Figure 4 As shown, in some embodiments, the ultrasonic sensor 18 can be mounted by combining any two or three of the first mounting bracket 12, the second mounting bracket 13, and the third mounting bracket 14 to form a combined bracket. For example... Figure 19 As shown, in some embodiments, the upgrade method of this application further includes: installing a second mounting bracket 13 on the frame 1, and then installing a first mounting bracket 12 on the second mounting bracket 13, with the ultrasonic sensor 18 installed on the first mounting bracket 12.

[0241] like Figure 4 As shown, in some embodiments, the upgrade method of the ultrasonic sensor 18 of this application further includes opening a first mounting hole 9 on the bracket, then setting an annular mounting seat on the first mounting hole 9, and then mounting part of the sensor on the annular mounting seat of the bracket.

[0242] In some embodiments, after the upgrade is completed, the height range of the ultrasonic sensor 18 located on the frame 1, left cover 7 and right cover 8 is 370mm to 380mm. In some embodiments, the height of the ultrasonic sensor 18 located on the frame 1, left cover 7 and right cover 8 is 370mm, 373mm or 380mm.

[0243] like Figure 13 and Figure 14 In some embodiments, the ultrasonic sensors 18 located on the frame 1, left cover 7, and right cover 8 have an angle range of 10° to 20° relative to the horizontal plane. Specifically, the upward elevation angles of the ultrasonic sensors 18 located on the frame 1, left cover 7, and right cover 8 relative to the horizontal plane are 10°, 15°, and 20°, respectively.

[0244] In some embodiments, after the upgrade is completed, the height range of the ultrasonic sensor 18 located on the tail cover 602 of the battery compartment 601 is 345mm to 360mm. Specifically, the height of the ultrasonic sensor 18 located on the tail cover 602 of the battery compartment 601 is 345mm, 346.8mm or 360mm.

[0245] In some embodiments, the angle of the ultrasonic sensor 18 located on the battery compartment 601 or the tail cover 602 of the battery compartment 601 relative to the horizontal plane ranges from 10° to 20°. Specifically, the angle of the ultrasonic sensor 18 located on the tail cover 602 of the battery compartment 601 relative to the horizontal plane is 10°, 15°, and 20°.

[0246] like Figure 13 In some embodiments, the upgrade method of the ultrasonic sensor 18 of this application includes: setting three ultrasonic sensors 18 on the front side of an existing outdoor work vehicle, wherein the installation height H1 of the three ultrasonic sensors 18 is 373mm and the installation angle α1 relative to the horizontal plane is 15°.

[0247] Combination Figure 5 , Figure 6 and Figure 13 Three ultrasonic sensors 18 are installed on the left and right sides of the existing outdoor work vehicle. The installation height H2 of the three ultrasonic sensors 18 on the left side of the existing outdoor work vehicle is 373mm and the installation angle α2 relative to the horizontal plane is 15°. The installation height H2 of the three ultrasonic sensors 18 on the right side of the existing outdoor work vehicle is 373mm and the installation angle α2 relative to the horizontal plane is 15°.

[0248] Combination Figure 9 and Figure 13 Four ultrasonic sensors 18 are installed on the rear side of the existing outdoor work vehicle. The height H3 of the four ultrasonic sensors 18 is 346.8mm and the installation angle α3 relative to the horizontal plane is 15°.

[0249] like Figure 10 As shown above, a total of 13 ultrasonic sensors 18 are installed on the front, left, right and rear sides of the existing outdoor work vehicle. Among the 13 ultrasonic sensors 18, the detection range of any two adjacent ultrasonic sensors 18 overlaps at least partially, so as to achieve full-angle coverage of the existing outdoor work vehicle by the combination of the 13 ultrasonic sensors 18.

[0250] Considering that existing outdoor work vehicles operate within the work area where vegetation such as grass has a certain height, in order to avoid the influence of grass height on the detection results, the installation parameters of the ultrasonic sensor are configured as the first parameter. This also enables the ultrasonic sensor to avoid interference from grass below the preset grass height, or enables existing outdoor work vehicles to perform operations on grass of the preset grass height.

[0251] It's important to understand that, relative to the horizontal plane, the preset upward angle is a positive value, and the preset downward angle is a negative value. The following angle descriptions also apply.

[0252] The following provides a detailed description of the upgrade methods for vision sensors in some embodiments:

[0253] like Figure 11 As shown, in some embodiments, the upgrade method of this application includes: setting up multiple visual sensors around the existing outdoor work vehicle, wherein the detection range of the multiple visual sensors covers the entire perimeter of the existing outdoor work vehicle.

[0254] In some embodiments, the vision sensor includes a monocular camera 19, a binocular camera 20, or a depth camera.

[0255] like Figure 2 and Figure 3 As shown, the method for upgrading the vision sensor in this application includes: using a jig 37 to create multiple second mounting holes 10 on the frame 1, left cover 7, right cover 8, and rear cover 602 of the battery compartment 601 in a manner similar to creating the first mounting hole 9. The method for creating the multiple second mounting holes 10 includes: using a positioning device to determine the mark points 801 to be processed on the frame 1, left cover 7, right cover 8, and rear cover 602 of the battery compartment 601 according to the required height, and then using a processing device to process the mark points 801 to form the second mounting holes 10. For example... Figure 2 and Figure 3 As shown, each of the plurality of second mounting holes 10 is set according to a preset height, such as... Figure 4 As shown, a second connector is then provided on each of the plurality of second mounting holes 10. Since the second connector has a connection position 121 at a preset angle to it, after one or more vision sensors are installed on the connection position 121 of each second connector, the installed one or more vision sensors will have a preset height and a preset angle.

[0256] In some embodiments, the second mounting hole 10 can be a hole of different diameter or shape, or it can be a combination of multiple holes.

[0257] like Figure 4As shown, in some embodiments, the second connector can be any one or both of the fourth mounting bracket 15 and the fifth mounting bracket 16.

[0258] In some embodiments, the fourth mounting bracket 15 may also be an annular mounting base. In some embodiments, when the second connector is an annular mounting base, the hollow structure inside the annular mounting base serves as the connection position 121 for connecting the vision sensor. This hollow structure can be circular, and the circular hollow structure forms a preset angle with the entire annular mounting base. When the annular mounting base is installed in the second mounting hole 10, and the vision sensor is then installed at the connection position 121 of the annular mounting base, the vision sensor will have a preset height and angle at that position.

[0259] like Figures 5 to 9 As shown, in some embodiments, after the upgrade is completed, the height range of the vision sensor on the rear cover 602 located on the frame 1, left cover 7, right cover 8 and battery compartment 601 is 400mm to 680mm. In some embodiments, the height of the vision sensor located on the frame 1, left cover 7 and right cover 8 is 400mm, 475mm, 565mm, 640mm or 680mm.

[0260] like Figure 13 and Figure 14 In some embodiments, the vision sensors located on the frame 1, left cover 7, right cover 8, and rear cover 602 of the battery compartment 601 are set at a second preset angle relative to the horizontal plane, the second preset angle ranging from -15° to 5°. Specifically, the second preset angle of the vision sensors located on the frame 1, left cover 7, right cover 8, and rear cover 602 of the battery compartment 601 relative to the horizontal plane is -15°, -11°, -9°, 0°, or 5°.

[0261] like Figure 13 and Figure 14 As shown, specifically, the method for upgrading the vision sensor in this application includes: installing a vision sensor on the front side of an existing outdoor work vehicle, wherein the installation height H4 of this vision sensor is 565mm and the angle α4 relative to the horizontal plane is 0°. Further, the vision sensor installed on the front side of the existing outdoor work vehicle is a monocular camera 19.

[0262] Combination Figure 5 and Figure 14One vision sensor is installed on the left and one on the right of the existing outdoor work vehicle. The installation height H5 of the vision sensor on the left side of the existing outdoor work vehicle is 640mm and the installation angle α5 relative to the horizontal plane is -11°. The installation height H5 of the vision sensor on the right side of the existing outdoor work vehicle is 640mm and the installation angle α5 relative to the horizontal plane is -11°.

[0263] Combination Figure 7 , Figure 9 , Figure 14 As shown, two vision sensors are installed at the rear of the existing outdoor work vehicle. The installation height H6 of these two vision sensors is 475mm, and the angle α6 relative to the horizontal plane is -9°.

[0264] like Figure 13 In some embodiments, the arrangement of a vision sensor located at the front of the existing outdoor work vehicle in the direction of travel of the existing outdoor work vehicle is as follows: it is positioned directly in front of the existing outdoor work vehicle, with an angle of 0° to the direction of travel of the existing outdoor work vehicle. In some embodiments, the vision sensor at the front of the existing outdoor work vehicle is located at the center of the front of the existing outdoor work vehicle.

[0265] like Figure 18 As shown, the angle α7 between the visual sensors located on the left and right sides of the existing outdoor work vehicle and the direction of travel of the existing outdoor work vehicle is in the range of 60° to 70°. In some embodiments, the angle α7 between the visual sensors located on the left and right sides of the existing outdoor work vehicle and the direction of travel of the existing outdoor work vehicle is 60°, 64°, or 70°. In some embodiments, the detection direction of the visual sensors located on the left and right sides of the existing outdoor work vehicle is set towards the outside of the existing outdoor work vehicle.

[0266] like Figure 18 As shown, the angle α8 between the two visual sensors located at the rear of the existing outdoor work vehicle and the direction of travel of the existing outdoor work vehicle ranges from 25° to 35°. In some embodiments, the angle α8 between the two visual sensors located at the rear of the existing outdoor work vehicle and the direction of travel of the existing outdoor work vehicle is 25°, 30°, or 35°. In some embodiments, the detection direction of the visual sensors located at the rear of the existing outdoor work vehicle is oriented towards the outside of the existing outdoor work vehicle.

[0267] like Figure 11 As shown, a total of 5 vision sensors are installed on the front, left, right and rear sides of the existing outdoor work vehicle. The detection range of any two adjacent vision sensors overlaps at least partially, so as to achieve full-angle coverage around the existing outdoor work vehicle by combining the 5 vision sensors.

[0268] like Figure 11 As shown, the method for upgrading the vision sensor in this application includes: setting one monocular camera 19 on the front side of the existing outdoor work vehicle, setting one binocular camera 20 on each of the left and right sides of the existing outdoor work vehicle, and setting two monocular cameras 19 on the rear side of the existing outdoor work vehicle.

[0269] The following is a detailed description of the upgrade methods for the lidar 21 in some embodiments:

[0270] like Figures 5 to 8 As shown, in some embodiments, the upgrade method of this application includes: setting a lidar 21 on the front side of an existing outdoor work vehicle, the lidar 21 being used to detect the area in front of the vehicle during the movement of the existing outdoor work vehicle.

[0271] like Figures 2 to 5 As shown, the upgrade method of the lidar 21 of this application further includes: setting a third mounting hole 11 on the frame 1, and then adding a third connector to the third mounting hole 11 to install the lidar 21 on the third connector.

[0272] like Figure 13 In some embodiments, the third preset angle α9 of the lidar 21 relative to the horizontal plane ranges from 0° to 5°. In some embodiments, the third preset angle α9 of the lidar 21 relative to the horizontal plane is 0°, 3°, or 5°.

[0273] like Figure 13 In some embodiments, the installation height H7 of the lidar 21 ranges from 420mm to 635mm. In other embodiments, the installation height H7 of the lidar 21 is 420mm, 500mm, 615mm, 625mm or 635mm.

[0274] like Figures 5 to 8 As shown, in some embodiments, a lidar 21 can also be mounted on the second connector for mounting the vision sensor on the front side of the frame 1, so that the lidar 21 and the vision sensor are mounted one above the other on the same second connector. This arrangement improves the fitting degree of the detection information when the vision sensor and lidar 21 fit the information they detect, thereby improving the accuracy of judging obstacles in front and accurately obtaining the category of the obstacle.

[0275] like Figures 5 to 8 As shown, in some embodiments, the second connector further includes a sixth mounting bracket 17 connected between the left and right crossbeams of the frame 1.

[0276] like Figure 12As shown, a computing power main control module 31 is installed on an existing outdoor operation vehicle, and the computing power main control module 31 is connected to the detection component and the vehicle controller 33 on the existing outdoor operation vehicle.

[0277] like Figure 12 As shown, the computing power main control module 31 in this application is configured to receive and process information from the detection components in part or all, and then transmit the processed information to the vehicle controller 33. The vehicle controller 33 is configured to control the operation of the upgraded intelligent outdoor work vehicle with fully automatic operation function according to the information transmitted by the computing power main control module 31.

[0278] like Figure 12 As shown, in some embodiments, part of the information from the detection component is transmitted to the computing power main control module 31 for processing, while another part of the information from the detection component is transmitted to the vehicle controller 33 for processing.

[0279] like Figure 12 As shown, in some embodiments, the ultrasonic sensor 18 of this application is signal-connected to the vehicle controller 33, and the vehicle controller 33 controls the operation of the walking assembly 5 and the cutting assembly based on the signal from the ultrasonic sensor 18. Specifically, the vehicle controller 33 controls the walking assembly 5 to brake or turn based on the signal from the ultrasonic sensor 18, and the vehicle controller 33 controls the cutting assembly to decelerate or stop based on the signal from the ultrasonic sensor 18.

[0280] like Figure 12 As shown, in some embodiments, the visual sensors (monocular camera 19 and binocular camera 20) and LiDAR 21 of this application are both signal-connected to the computing power control module 31. The computing power control module 31 performs algorithm processing (including AI large model processing) based on the signals from the visual sensors and LiDAR 21, and then transmits the processed signals to the vehicle controller 33. The vehicle controller 33 then performs corresponding actions such as controlling the walking component 5 to brake or turn, and controlling the cutting component to decelerate or stop. In some embodiments, the brakes in this application are electronically controlled brakes.

[0281] like Figure 15As shown, in some embodiments, to further improve the fitting degree of the detection information between the visual sensor and the lidar 21, the upgraded method of this application further includes: providing a periscope structure 30, by setting one end of the periscope structure 30 on the mask 2101 of the lidar 21, and connecting the other end of the periscope structure 30 to the camera of the visual sensor, so that the periscope structure 30 transmits the information acquired by it on the mask 2101 of the lidar 21 to the visual sensor. In this way, by physically aligning them, the distance between the laser emitting end 2102 of the lidar 21 and the lens of the periscope structure 30 is minimized as much as possible. The periscope structure 30 then transmits the information entering the periscope structure 30 tube to the visual sensor, thus making the light-collecting point distance between the lidar 21 and the visual sensor closer, further improving the fitting degree of their detection information.

[0282] In the upgrade method of this application, the front and rear wheels of the existing outdoor work vehicle can be replaced with new front and rear wheels composed of hub motors. According to actual usage requirements, ultrasonic sensors 18, vision sensors, lidar 21, millimeter-wave radar, infrared night vision devices, thermal imagers or microwave radars can be installed on the hub motors to improve the existing outdoor work vehicle's ability to detect the external environment, reduce blind spots, and improve the safety of the existing outdoor work vehicle during operation.

[0283] In some embodiments, the upgrade method of this application further includes disassembling the components on the existing outdoor work vehicle where the interference connection component, the detection component, and the computing power main control module 31 are installed. After the upgrade is completed, the disassembled components are reinstalled on the upgraded intelligent outdoor work vehicle or are not installed at all.

[0284] like Figures 6 to 9 As shown, in some embodiments, the existing outdoor work vehicles of this application can also utilize the RTK system 32 for location positioning. The RTK system 32 includes a satellite positioning receiving antenna 22, a satellite positioning mobile station, and an RTK base station. The satellite positioning receiving antenna 22 and the satellite positioning mobile station are used to be installed on a mobile work vehicle, while the RTK base station is used to be fixed at a certain location in the work area.

[0285] In some embodiments, the upgrade method of this application further includes upgrading an existing outdoor work vehicle with a satellite positioning receiving antenna 22 for receiving satellite positioning signals and a satellite positioning mobile station for processing satellite positioning signals. The satellite positioning receiving antenna 22 is used to receive satellite signals and transmit the received satellite signals to the satellite positioning mobile station, which is signal-connected to the computing power main control module 31.

[0286] The satellite positioning mobile station can also be other satellite positioning mobile stations, or other positioning devices that can work with RTK base stations to achieve real-time positioning. The satellite positioning receiving antenna 22 transmits the received satellite signals and the satellite signals received by the RTK base station to the satellite positioning mobile station. Then, the satellite positioning mobile station uses differential data to correct the satellite positioning coordinates (i.e., the positioning coordinates of the intelligent outdoor work vehicle) and outputs them to the computing power main control module 31, thereby realizing the positioning of the outdoor work vehicle.

[0287] The vehicle controller 33 can control the outdoor work vehicle to perform operations and / or functions such as driving, map selection, recall, offset, and lawn mowing, realizing the intelligent driving function or automatic operation function of the outdoor work vehicle. The vehicle controller 33 may further include a map generation and management module, a trajectory planning module, and a lawn mowing operation control module.

[0288] like Figure 7 As shown, in some embodiments, two satellite positioning receiving antennas 22 are provided, and the distance between the two satellite positioning receiving antennas 22 ranges from 260mm to 1300mm. In some embodiments, the distance between the two satellite positioning receiving antennas 22 is 260mm, 380mm, 650mm or 1300mm.

[0289] like Figure 6 and Figure 7 As shown, in some embodiments, the arrangement of two satellite positioning receiving antennas 22 can identify the positions of two points on the intelligent outdoor work vehicle during operation, thereby determining the orientation of the intelligent outdoor work vehicle, which facilitates the intelligent outdoor work vehicle to adjust its travel direction according to the actual work direction.

[0290] like Figure 8 As shown, in some embodiments, the two satellite positioning receiving antennas 22 are not collinear, either parallel or perpendicular to the travel direction of the existing outdoor work vehicle. The satellite positioning receiving antennas 22 can be installed at the front, rear, or other suitable locations on the existing outdoor work vehicle.

[0291] like Figure 6 and Figure 7 As shown, in some embodiments, two satellite positioning receiving antennas 22 are arranged collinearly, either parallel to or perpendicular to the travel direction of the existing outdoor work vehicle.

[0292] In some embodiments, the satellite positioning receiving antenna 22 can be directly mounted on the vehicle frame 1, the seat 3, or the battery compartment 601. In some embodiments, the satellite positioning receiving antenna 22 can also be directly or indirectly mounted on the sixth mounting bracket 17.

[0293] In some embodiments, the upgrade method for existing outdoor work vehicles in this application is not limited to existing outdoor work vehicles that are electrically driven by battery packs or other means, but can also be existing outdoor work vehicles that are driven by fuel or other means.

[0294] When the cutting components are replaced with functional parts such as snowplows, snow sweepers, or snow blowers, the existing outdoor work vehicles of this application can be snowplows, snow sweepers, snow blowers, etc.

[0295] like Figure 31 and Figure 32 As shown, it is understandable that existing outdoor work vehicles can also be other vehicles that travel outdoors, such as all-terrain vehicles, ATVs, farm vehicles, and golf carts. Existing outdoor work vehicles can also be agricultural machinery vehicles, such as harvesters and sprayers. Because different outdoor work vehicles have different dimensions such as length, width, and height, the number, height, and angle of sensors installed on each type of outdoor work vehicle will differ when upgrading them. However, the overall installation approach generally adopts the upgrade system and methods described above.

[0296] In some embodiments, the number of ultrasonic sensors 18 installed on an all-terrain vehicle can be 12 or 16, and the number of ultrasonic sensors 18 installed on a snowplow, snow sweeper, or snow blower can be 4 or 6.

[0297] like Figure 6 and Figure 10 As shown, in some embodiments, this application also provides an intelligent outdoor work vehicle, obtained through the above-described upgrade system and upgrade method. The intelligent outdoor work vehicle includes: a walking component 5, configured to support the intelligent outdoor work vehicle's movement; the walking component 5 includes: a first walking wheel 501, rotatable about a first axis 28; a second walking wheel 502, rotatable about a second axis 29; a work component 4, configured to perform outdoor work; and multiple sensors, configured to support the intelligent outdoor work vehicle's automatic movement within the work area. The number Y of sensors installed on the intelligent outdoor work vehicle is calculated using the following formula:

[0298]

[0299] Where L is the distance between the first axis 28 and the second axis 29, 1.5m≥L≥1m; X is the working radius of the working component 4 in the direction of travel of the intelligent outdoor working vehicle, 60inch≥X≥30inch; This indicates the floor function. This indicates the rounding up operation.

[0300] In some embodiments, when L is 1.2m and X is 42 inches, the number Y of sensors arranged around the intelligent outdoor work vehicle is 11, 12, or 13.

[0301] In some embodiments, the walking assembly 5 includes a first walking wheel 501 rotatable about a first axis 28 and a second walking wheel 502 rotatable about a second axis 29. The diameter of the first walking wheel 501 is larger than the diameter of the second walking wheel 502. Sensors are provided at both ends of the first walking wheel 501 in the direction of travel of the intelligent outdoor work vehicle. The detection range of the sensor located at one end of the first walking wheel 501 at least partially overlaps with that of the sensor located at the other end of the walking wheel. When the diameter of the first walking wheel 501 is large, placing the sensors at both ends of the first walking wheel 501 helps to reduce the blind spots of sensor detection and improve the accuracy of sensor detection.

[0302] In some embodiments, the first traveling wheel 501 is the aforementioned rear traveling wheel, and the second traveling wheel 502 is the aforementioned front traveling wheel.

[0303] In some embodiments, the sensor's detection distance in the horizontal direction is 0.1m to 20m. In some embodiments, the sensor's detection range in the horizontal direction is 0.1m, 0.3m, 0.5m, 2m, 5m, 12m, or 20m.

[0304] In some embodiments, the sensor's detection distance in the vertical direction is 0.1m to 5m. In some embodiments, the sensor's detection distance in the vertical direction is 0.1m, 0.3m, 0.5m, 2m, or 5m.

[0305] In some embodiments, the sensor is at least one of an ultrasonic sensor 18, a vision sensor, and a lidar 21.

[0306] To avoid the impact of the height of the cut grass on the detection results, in some embodiments, the detection height of the sensor is not less than 0.1m, and in other embodiments, the detection height of the sensor is 0.1m, 0.14m or 0.15m.

[0307] In some embodiments, multiple sensors are arranged circumferentially around the intelligent outdoor work vehicle. In some embodiments, the sensors are ultrasonic sensors 18, and multiple ultrasonic sensors 18 are arranged around the intelligent outdoor work vehicle, with the sum of the detection ranges of the multiple ultrasonic sensors 18 providing full-angle coverage around the intelligent outdoor work vehicle.

[0308] In some embodiments, the number of sensors is 4 to 30. In some embodiments, the number of sensors is 4, 13, 20, or 30. Furthermore, one sensor is installed on each of the front, left, right, and rear sides of the intelligent outdoor work vehicle.

[0309] In some embodiments, the detection ranges of any two adjacent sensors among the plurality of sensors at least partially overlap.

[0310] In some embodiments, the intelligent outdoor work vehicle of this application further includes a computing power main control module 31, which is connected to multiple sensors and the vehicle controller 33 on the intelligent outdoor work vehicle. The computing power main control module 31 is used to process the sensing information of multiple sensors and transmit the processed information to the vehicle controller 33. The vehicle controller 33 controls the operation of the walking component 5 and / or the work component 4 according to the information.

[0311] like Figure 7 As shown, in some embodiments, this application also provides an intelligent outdoor work vehicle, which is obtained through the above-described upgrade system and upgrade method. The intelligent outdoor work vehicle includes: an energy source system 6 configured to supply power to the intelligent outdoor work vehicle; a work component 4 configured to perform outdoor work; a walking component 5 configured to support the intelligent outdoor work vehicle to walk, the walking component 5 including a first walking wheel 501 rotatable about a first axis 28 and a second walking wheel 502 rotatable about a second axis 29, the wheel diameter of the first walking wheel 501 being larger than the wheel diameter of the second walking wheel 502; and a plurality of ultrasonic sensors 18 disposed on the intelligent outdoor work vehicle, the plurality of ultrasonic sensors 18 being located on the outer sides of both ends of the first walking wheel 501 in the direction of travel of the intelligent outdoor work vehicle.

[0312] like Figure 10 As shown, in some embodiments, in the direction of travel of the intelligent outdoor work vehicle, the detection range of the ultrasonic sensor 18 located at one end of the first walking wheel 501 and the ultrasonic sensor 18 located at the other end of the first walking wheel 501 at least partially overlap.

[0313] In some embodiments, the diameter of the first traveling wheel 501 ranges from 350mm to 800mm. In some embodiments, the diameter of the first traveling wheel 501 ranges from 350mm, 500mm, 600mm, or 800mm.

[0314] like Figure 6 As shown, in some embodiments, the vertical distance between any one of the plurality of ultrasonic sensors 18 and the first axis 28 is at least 190 mm. In some embodiments, the vertical distance between any one of the plurality of ultrasonic sensors 18 and the first axis 28 is at least 190 mm, 230 mm, or 260 mm.

[0315] In some embodiments, a visual sensor is also included, located above the first wheel 501 and between its two ends in the direction of travel of the intelligent outdoor work vehicle. With the ultrasonic sensor 18 positioned at the front and rear ends of the first wheel 501, placing the visual sensor above the first wheel 501 helps to reduce the detection blind zone near the first wheel 501, expand the detection range, and improve detection accuracy.

[0316] like Figure 17 As shown, in some embodiments, the intelligent outdoor work vehicle of this application is obtained through the above-described upgrade system and upgrade method. The intelligent outdoor work vehicle includes: a walking component 5 configured to support the intelligent outdoor work vehicle's movement; a work component 4 configured to perform outdoor work; an energy source system 6 configured to power the intelligent outdoor work vehicle; and multiple sensors, each of which includes an axis 27 along the signal transmission direction in the top view of the intelligent outdoor work vehicle. Among at least three adjacent sensors on the front, rear, left, and right sides of the intelligent outdoor work vehicle, the intersection of the axis 27 of the middle sensor with the axis 27 of one of its adjacent sensors is a first intersection point 25, and the intersection of the axis 27 of the middle sensor with the axis 27 of another adjacent sensor is a second intersection point 26. The first intersection point 25 and the second intersection point 26 are located on both sides of the three adjacent sensors, respectively.

[0317] In some embodiments, refer to the appendix Figure 17 In the direction of travel of the intelligent outdoor work vehicle, the first intersection point 25 of the axes 27 of the two sensors closest to the rear of the vehicle is located on one side of the three adjacent sensors, and the distance between these two sensors is set relatively close, resulting in a smaller detection blind zone between these two sensors and close to the outer contour of the vehicle. The second intersection point 26 of the axes 27 of the two sensors closest to the front of the vehicle is located on the other side of the three adjacent sensors, and the detection edges of these two sensors are close to the outer contour line of the vehicle, thereby reducing the detection blind zone between these two sensors and close to the outer contour of the vehicle.

[0318] like Figure 12 As shown, in some embodiments, this application also includes a computing power main control module 31 for receiving and processing information from sensors, and a vehicle controller 33 for controlling the intelligent outdoor work vehicle to walk in a predetermined direction and / or perform outdoor work. The vehicle controller 33 can control the operation of the walking component 5 and / or the work component 4 according to the information received by the computing power main control module 31.

[0319] like Figure 6 and Figure 7As shown, in some embodiments, this application also provides an intelligent outdoor work vehicle with a collision detection device 23, obtained through the above-described upgrade system and upgrade method. The intelligent outdoor work vehicle includes: a frame 1, on which an energy source system 6 is disposed, the energy source system 6 being configured to power the intelligent outdoor work vehicle; a work component 4, configured to perform vegetation cutting; a walking component 5, configured to support the intelligent outdoor work vehicle's movement; a seat 3, configured for a user to sit on; a vehicle controller 33, configured to control the operation of at least one of the work component 4 and the walking component 5; and a collision detection device 23, signal-connected to the vehicle controller 33, the vehicle controller 33 being further configured to control the operation of at least one of the work component 4 and the walking component 5 based on the collision information from the collision detection device 23.

[0320] like Figure 16 As shown, in some embodiments, the collision detection device 23 includes a collision strip 2301, which has a first contact surface 23013 capable of contacting an obstacle. The intelligent outdoor work vehicle is equipped with a crash beam (not shown), generally located on the front side of the vehicle and closer to the rear side of the intelligent outdoor work vehicle than the collision strip 2301. The crash beam has a second contact surface capable of contacting an obstacle. In the horizontal direction, the distance between the first contact surface 23013 and the second contact surface ranges from 6 mm to 12 mm. In some embodiments, the distance between the first contact surface 23013 and the second contact surface is 6 mm, 10 mm, or 12 mm. The distance between the first contact surface 23013 and the second contact surface is related to the braking distance of the intelligent outdoor work vehicle. In the event of brake failure, the crash beam acts as a barrier for the intelligent outdoor work vehicle, stopping the vehicle in operation and minimizing damage caused by a collision.

[0321] like Figure 15 As shown, in some embodiments, the collision detection device 23 includes a first conductor 2303 and a second conductor 2304, and the distance between the first conductor 2303 and the second conductor 2304 is in the range of 1 mm to 5 mm. In some embodiments, the distance between the first conductor 2303 and the second conductor 2304 is 1 mm, 2 mm, 3 mm, 4 mm or 5 mm.

[0322] In some embodiments, the operating voltage of the collision detection device 23 is 12V or 24V, the maximum withstand voltage of the collision detection device 23 does not exceed 36V, the maximum withstand current of the collision detection device 23 does not exceed 30mA, and the operating ambient temperature of the collision detection device 23 is -35℃ to +85℃.

[0323] When the collision detection device 23 collides with an obstacle, the outer part of the collision strip 2301 first contacts the obstacle. Then, the collision strip 2301 deforms and squeezes the first conductor 2303 to move closer to the second conductor 2304. When the first conductor 2303 and the second conductor 2304 come into contact, a collision signal is triggered. The collision signal is transmitted to the vehicle controller 33, which then issues a corresponding command to stop the intelligent outdoor work vehicle from moving or working.

[0324] like Figure 16 As shown, in some embodiments, the collision strip 2301 has a receiving cavity 23012, and the first conductor 2303 and the second conductor 2304 are located in the receiving cavity 23012.

[0325] In some embodiments, the collision detection device 23 includes a collision strip 2301, the height of which is between 300mm and 400mm from the ground. In some embodiments, the height of the collision strip 2301 from the ground is 300mm, 350mm, or 400mm. This allows the collision strip 2301 to contact relatively low obstacles, ensuring that the collision detection device 23 has a large detection range and avoiding missed detection of low-height obstacles.

[0326] like Figure 16 As shown, in some embodiments, the collision detection device 23 includes a collision strip 2301 and a mounting base 2302. The collision strip 2301 is provided with a first mounting portion, and the mounting base 2302 is provided with a second mounting portion that slides with the first mounting portion. In some embodiments, the first mounting portion is a slider 23011, and the second mounting portion is a groove 23021.

[0327] like Figure 7 and Figure 13 As shown, in some embodiments, the intelligent outdoor work vehicle also includes a headlight 24, and the distance between the headlight 24 and the collision strip 2301 in the direction of travel of the intelligent outdoor work vehicle is 100mm to 150mm.

[0328] like Figure 7 and Figure 13 As shown, in some embodiments, the intelligent outdoor work vehicle also includes headlights 24, which are higher than the height of the collision detection device 23. With this arrangement, when encountering a relatively low obstacle, the collision detection device 23 will contact the obstacle first, and the intelligent outdoor work vehicle can brake in a timely manner based on the detection of the collision detection device 23, thereby reducing the damage to the headlights 24 caused by the collision.

[0329] It should be noted that all descriptions of height in this application are based on the ground as the reference point.

[0330] like Figure 7 As shown, in some embodiments, the distance between the headlight 24 and the seat 3 in the horizontal direction is less than the distance between the collision detection device 23 and the seat 3. Furthermore, in the horizontal direction (or the front-to-back direction of outdoor operations), the collision detection device 23 is positioned further forward than the headlight 24. This arrangement ensures that in the event of a collision, the collision detection device 23 will contact the obstacle first, and the intelligent outdoor work vehicle can brake in a timely manner based on the detection results of the collision detection device 23, reducing the possibility of damage to the headlight 24 due to a collision.

[0331] In some embodiments, an operating component 2 is further included on the frame 1, the operating component 2 being configured to control the forward, reverse, or turning movements of the outdoor work vehicle. This is for user operation and control of the outdoor work vehicle's operation.

[0332] like Figure 6 As shown, in some embodiments, the walking component 5 includes a first walking wheel 501 that can rotate about a first axis 28 and a second walking wheel 502 that can rotate about a second axis 29. The distance between the first axis 28 and the second axis 29 is 900mm to 1500mm. In some embodiments, the distance between the first axis 28 and the second axis 29 is 900mm, 1000mm, 1200mm or 1500mm.

[0333] When installing sensors on outdoor work vehicles, the different outer contour structures at different locations on the vehicle can easily lead to inconvenience in sensor installation or incompatibility after installation if not designed in a standardized manner. This can result in sensors shaking or even falling off, and may also cause the preset detection range to be ineffective.

[0334] like Figure 22 and Figure 23 In some embodiments, this application discloses an outdoor work vehicle, which can be obtained through the upgrade system and upgrade method described above, including: a frame 1; a battery compartment 601 disposed at the rear of the frame 1; a cover covering at least a portion of the frame 1; at least one of the battery compartment 601 and the cover having an outer contour structure with non-zero curvature; a detection component for detecting the location information of the outdoor work vehicle and / or the surrounding environment information; and a connection component capable of connecting the detection component to the outer contour structure, wherein the connection component is at least partially adapted to the shape of the outer contour structure.

[0335] Since the outer contour structure of the frame 1 or the cover of the outdoor work vehicle is different at different locations, when we select the connecting components to install different outer contour structures, we will select the connecting components that match the shape of the corresponding outer contour structure.

[0336] like Figure 22 , Figure 23 and Figure 24As shown, in some embodiments, in the horizontal direction, the outer contour structure includes at least a first contour surface 701 and a second contour surface 702 with different heights. The connecting component includes a first connector, which includes at least a first adapter surface 122 and a second adapter surface 123 with different heights. When the first connector is installed on the outer contour structure, the first contour surface 701 and the first adapter surface 122 are spatially corresponding, and the second contour surface 702 and the second adapter surface 123 are spatially corresponding. Further, the first contour surface 701 and the first adapter surface 122 can be spatially fitted together, and the second contour surface 702 and the second adapter surface 123 can be spatially fitted together. Through the above method, the fit between the first connector and the outer contour structure can be made more stable.

[0337] In some embodiments, this application also provides an outdoor work vehicle, including a frame 1; a battery compartment 601 disposed at the rear of the frame 1; a cover including a left cover 7 and a right cover 8, the left cover 7 and the right cover 8 covering at least a portion of the frame 1; at least one of the battery compartment 601, the left cover 7, and the right cover 8 having an outer contour structure with non-zero curvature; at least two detection components for detecting environmental information around the outdoor work vehicle; and a connecting component including multiple connectors, at least one connector being adapted to the shape of the outer contour structure, and at least one connector being adapted to the shape of the frame. This arrangement allows the detection components installed at various locations on the outdoor work vehicle to be stably installed, ensuring that the detection range of the outdoor work vehicle during operation remains within a preset range. The stable installation of the detection components also guarantees the accuracy of the vehicle's detection of the surrounding environment.

[0338] In some embodiments, multiple detection components are provided, and the height difference between two adjacent detection components in the vertical direction is 5mm to 12mm. Setting the height difference between two adjacent detection components to be relatively small is to minimize the error in the detection information when two adjacent detection components detect the same obstacle, thereby improving the accuracy of obstacle detection.

[0339] When installing sensors on outdoor work vehicles, especially when multiple sensors need to be installed, such as ultrasonic sensors 18, vision sensors and lidar 21, and the number of each ultrasonic sensor 18, vision sensor and lidar 21 installed on the vehicle is different, it is time-consuming and labor-intensive to install them one by one during installation and disassemble them one by one during maintenance.

[0340] like Figure 20 and Figure 21In some embodiments, an outdoor work vehicle includes: a frame 1; a running gear 5 disposed on the frame 1 for driving the outdoor work vehicle; a work assembly 4 disposed on the frame 1 for performing outdoor work; a headlight assembly 24 disposed on the frame 1 for at least illuminating the front of the outdoor work vehicle; and a front detection assembly disposed at the front of the vehicle to detect environmental information in front of the vehicle. The front detection assembly includes at least two detection units and a mounting assembly for mounting the at least two detection units to the frame 1, wherein at least one detection unit is higher than the headlight assembly.

[0341] The above-mentioned method integrates two or more detection units on the mounting assembly, and then modularly installs the mounting assembly with the detection units onto the frame 1, which improves the efficiency of installing the detection assembly on the vehicle, simplifies the installation steps, and facilitates disassembly and maintenance.

[0342] In some embodiments, the two detection units can be any two of the ultrasonic sensor 18, the visual sensor, and the lidar 21.

[0343] In some embodiments, the two detection units may be two ultrasonic sensors 18, two visual sensors, or two lidar 21.

[0344] In some embodiments, the mounting assembly includes a support 171 and a mounting accessory 172, the support 171 being connected to the frame 1 and the mounting accessory 172 being located on the support 171.

[0345] In some embodiments, the assembly 172 has at least two mounting positions for mounting detection units. In some embodiments, the assembly 172 has three mounting positions, two for mounting two sensors and one for mounting a satellite positioning receiving antenna 22. In some embodiments, the assembly 172 has four mounting positions, three for mounting three sensors (which may be an ultrasonic sensor 18, a visual sensor, and a lidar 21), and one for mounting a satellite positioning receiving antenna 22, which receives signals transmitted by satellites for satellite positioning of outdoor work vehicles.

[0346] In some embodiments, the frame 1 includes two longitudinal beams and a crossbeam connecting the two longitudinal beams, and the support member 171 is detachably mounted on the longitudinal beams or the crossbeam. The longitudinal beams or the crossbeam provide mounting support for the support member 171, thereby enabling the entire front detection assembly to be mounted and fixed on the frame 1.

[0347] Furthermore, the support member 171 includes a connecting part and a mounting part. The connecting part is configured to connect to the frame 1, and the mounting part is configured to connect to the mounting accessory 172. The height of the mounting part is higher than the height of the headlight assembly. The mounting accessory 172 is used to mount the detection unit. Mounting the mounting accessory on the mounting part, which is higher than the headlight assembly, is to prevent the detection unit from interfering with the illumination of the headlight assembly, thereby ensuring the lighting effect of the headlight assembly.

[0348] Please also refer to Figure 6 , Figure 20 and Figure 21 In some embodiments, this application also provides an intelligent outdoor work vehicle, including: a frame 1; a walking assembly 5 for supporting the intelligent outdoor work vehicle's movement, the walking assembly 5 including front walking wheels and rear walking wheels, the front walking wheels being disposed at the front of the frame 1 and the rear walking wheels being disposed at the rear of the frame 1; a work assembly 4 connected to the frame 1, the work assembly 4 being used to perform outdoor work; a vehicle controller 33 configured to at least control the movement of the intelligent outdoor work vehicle and the performance of outdoor work; and a front detection assembly detachably mounted on the frame 1, the front detection assembly being disposed at the front of the vehicle to detect environmental information in front of the vehicle, the front detection assembly including at least two detection units and A mounting assembly for mounting at least two detection units to the vehicle frame 1; wherein the at least two detection units have different detection functions; a computing power main control module 31 is capable of signal connection to the vehicle controller 33 and the front detection unit respectively. The computing power main control module 31 can receive information from the front detection unit and process the received information before sending it to the vehicle controller 33. By integrating detection units with at least two different detection functions onto the mounting assembly, and then modularly mounting the detection units with at least two different detection functions onto the vehicle frame 1 through the mounting assembly, the efficiency of installing the front detection assembly on the vehicle is improved, the installation steps are simplified, and disassembly and maintenance are also facilitated.

[0349] Please also refer to Figure 6 , Figure 20 and Figure 21In some embodiments, this application also includes an outdoor powered vehicle, including a frame 1, a running gear 5, a vehicle controller 33, an integrated detection component, and a computing power control module 33. The running gear 5 supports the movement of the outdoor powered vehicle, and the vehicle controller 33 is configured to at least control the movement of the outdoor powered vehicle. The integrated detection component is detachably mounted on the frame 1 and is configured on the vehicle to detect environmental information outside the vehicle. The integrated detection component includes at least two detection units and a mounting component for mounting the at least two detection units to the frame 1. The computing power control module 31 can be signal-connected to both the vehicle controller 33 and the integrated detection component. The computing power control module 31 can receive information from the integrated detection component and process the received information before sending it to the vehicle controller 33. The present application discloses an integrated detection assembly having at least two detection units that is mounted on a vehicle frame 1 via a mounting assembly. This arrangement allows for the pre-installation of two or more detection units on the mounting assembly when installing the detection assembly on an outdoor powered vehicle, and then the assembled integrated detection assembly is mounted on the vehicle frame as a whole. This method improves the efficiency of installing detection assemblies on outdoor powered vehicles.

[0350] Outdoor powered vehicles in this application include ride-on lawnmowers, smart lawnmowers, push lawnmowers, all-terrain vehicles, snowplows, and snow blowers.

[0351] In some embodiments, the mounting assembly includes a support member 171 and a mounting accessory 172. The support member 171 is detachably connected to the vehicle frame 1, the mounting accessory 172 is located on the support member 171, and the detection unit is disposed on the mounting accessory 172. In this application, the support member 171 is connected to the vehicle frame 1, the mounting accessory 172 is mounted on the support member 171, and then the detection unit is disposed on the mounting accessory 172 to achieve the purpose of fixing the detection unit to the vehicle frame 1.

[0352] In some embodiments, the detection unit includes either a visual sensor or a lidar 21. The detection information of the visual sensor and lidar 21 about their surrounding environment needs to be transmitted to the computing power main control module 31. The computing power main control module 31 can process the information received from the visual sensor and lidar 21 and send it to the vehicle controller. The vehicle controller 33 then determines whether to adjust the vehicle's driving path or adjust the height of the working component 4 or the start / stop of the working component 4 based on the information transmitted by the computing power main control module 31, so as to achieve the purpose of obstacle avoidance.

[0353] In some optional embodiments, the side-view detection unit is positioned at the rearmost lateral location of the vehicle, such as the far left or far right rear. In this position, the side of the vehicle can be almost completely captured by the side-view detection unit, which is considered the optimal location for the unit. However, in practice, the position of the side-view detection unit is limited by the shape of the vehicle and may not be able to be positioned at the far left or far right rear. Furthermore, a position within 30% of the front or rear of the vehicle is sufficient to effectively detect the lateral environment. Therefore, the distance between the side-view detection unit and the front or rear of the vehicle should be less than or equal to 30% of the vehicle's total length.

[0354] In some more specific embodiments, reference is made to the appendix. Figure 18 The figure shows a top view of an outdoor work vehicle. In this embodiment, the side vision detection unit is positioned at the rear side of the vehicle. Mark C in the figure represents the total length of the vehicle, mark A represents the distance of the side vision detection unit from the frontmost point of the vehicle, and mark B represents the distance of the side vision detection unit from the rearmost point of the vehicle. In this embodiment, 30% ≥ B / C ≥ 0. Further, in some embodiments, the value of B / C is 24%, meaning the side vision detection unit is located 24% of the distance from the rearmost point of the vehicle in the longitudinal direction, enabling it to effectively detect the environmental conditions in front of and to the side of the vehicle.

[0355] In some optional embodiments, the distance between the side vision detection unit and the foremost or rearmost end of the vehicle is less than or equal to 30% of the total length of the vehicle. A front vision detection unit, positioned at the front of the vehicle frame and used to detect the front of the vehicle, has a detection range that partially overlaps with the detection range of at least one side vision detection unit. This overlapping of the detection ranges of the front and side vision detection units enables multi-angle detection of the vehicle's sides and front, reducing the possibility of missed detections.

[0356] Outdoor work vehicles also include a laser detection unit located at the front of the vehicle, either directly above or below the front vision detection unit.

[0357] In some optional embodiments, the distance between the side vision detection unit and the foremost or rearmost end of the vehicle is less than or equal to 30% of the total length of the vehicle. At least two rear vision detection units are positioned at the rear of the outdoor work vehicle. Each rear vision detection unit is capable of detecting both the sides and rear of the vehicle. The detection ranges of adjacent rear vision and side vision detection units at least partially overlap. This overlapping of the detection ranges of the rear and side vision detection units enables multi-angle detection of the vehicle's sides and rear, reducing the possibility of missed detections.

[0358] In some optional embodiments, the detection ranges of two adjacent rear vision detection units at least partially overlap at the rear of the outdoor work vehicle.

[0359] In some optional embodiments, the application further includes a front vision detection unit disposed in front of the outdoor work vehicle and used to detect the front of the vehicle, the detection range of the front vision detection unit partially overlapping with the detection range of one of the side vision detection units. Further, the sum of the detection ranges of the front vision detection unit, the rear vision detection unit, and the side vision detection units provides full-angle coverage around the outdoor work vehicle.

[0360] In some optional embodiments, the horizontal field of view of the side vision detection unit is greater than or equal to 100° and less than or equal to 140°. In this embodiment, the side vision detection unit is a binocular camera 20, which is a camera structure configured with two camera units, capable of combining and removing distortion from the images captured by the two camera units. The horizontal field of view of each camera unit should be no less than 140°, and the two camera units are set at an angle to each other. The side vision detection unit includes a unit processing module. The equivalent field of view of the image obtained after combining and removing distortion from the images captured by the two camera units should meet the above-mentioned requirement of being greater than or equal to 100° and less than or equal to 140°. For example, in some optional embodiments, the horizontal field of view of the side vision detection unit is 120°. (Refer to the appendix.) Figure 29 The figures S2 and S3 illustrate the detection range of the two side vision detection units. S2 includes the edge lines of two horizontal field of view angles. One of the edge lines is marked as d in the figure. In this embodiment, the angle between line segment d and the other edge line is approximately 120°.

[0361] In some optional embodiments, the angle between one edge line of the horizontal field of view of the side vision detection unit and a first direction is less than or equal to 10°, where the first direction is the vehicle's longitudinal direction. (See attached diagram.) Figure 29 The line segment d shown in the figure is one of the edge lines of the horizontal field of view of the side vision detection unit. Its angle with the first direction is small, which enables it to detect obstacles that are relatively close to the vehicle body from the side, ensuring that the detection results are more reliable.

[0362] In some optional embodiments, the outdoor work vehicle also includes a front vision detection unit disposed at the front of the vehicle. The front vision detection unit is mainly used to detect the environment in front of the vehicle. The front vision detection unit is oriented almost horizontally towards the front of the vehicle. Specifically, the front vision detection unit includes a front camera unit, which is oriented almost horizontally towards the front of the vehicle to minimize distortion of the images it captures.

[0363] In some optional embodiments, the outdoor work vehicle also includes a rear vision detection unit located at the rear of the vehicle, which is mainly used to detect the environment behind the vehicle.

[0364] Please refer to the attached document again. Figure 29 The shaded sectors in the figure represent the detection range of the corresponding visual detection units. Specifically, S1 represents the detection range of the front visual detection unit, S2 and S3 represent the detection ranges of the right and left side visual detection units, respectively, and S4 and S5 represent the detection ranges of the two rear visual detection units.

[0365] In some optional embodiments, the detectable range of the front visual detection unit at least partially overlaps with the detectable range of one of the side visual detection units. For example... Figure 29 As shown, S1 and S2 have a partial overlap, and S1 and S3 also have a partial overlap. This partial overlap avoids the existence of blind spots, especially when there are obstacles in the overlapping area. The two visual detection units jointly detect the images on both sides of the obstacle, which can better help users or vehicles identify the specific information of the obstacle.

[0366] In some optional embodiments, the outdoor work vehicle also includes a laser detection unit disposed at the front of the vehicle. The laser detection unit has a longer detection range, enabling it to assist the front vision detection unit in effectively identifying obstacles at greater distances. It should be noted that the laser detection unit described in this application is the aforementioned lidar 21.

[0367] In some optional embodiments, the laser detection unit is located directly above or below the front visual detection unit. Both the visual detection unit and the laser detection unit ultimately display images to the user. If there is a left-right positional difference between the two, it will cause a significant difference in the images they output. Conversely, arranging them vertically in this embodiment can reduce the difference in the images they output, making it easier for the user or controller to judge the environmental conditions by combining the images output by both units.

[0368] In some optional embodiments, the outdoor work vehicle also includes at least two rear-view detection units positioned at the rear of the vehicle, each tilted outwards to detect the environment on both sides behind the vehicle.

[0369] Furthermore, in some optional embodiments, the detectable ranges of the two rear-vision detection units at least partially overlap. (See attached diagram.) Figure 29The diagram shows S4 and S5, which represent the detection ranges of the two rear-vision detection units. S4 and S5 partially overlap, achieving not only the technical effect of observing obstacles in the overlapping area from both sides, but also the ability to identify the distance to the obstacle in the overlapping area by combining the two images. In other words, the combination of the two rear-vision detection units creates a depth-of-field recognition effect.

[0370] Furthermore, in some optional embodiments, the detectable range of at least one side detection unit at least partially overlaps with the detectable range of one of the rear vision detection units. For example... Figure 29 As shown, S2 and S4 have a partial overlap, as do S3 and S5. This partial overlap avoids blind spots, especially when obstacles exist in the overlapping area. The two visual detection units jointly detect the images on both sides of the obstacle, providing users or vehicles with better information about the obstacle.

[0371] In some optional embodiments, this specification also discloses an outdoor work vehicle, which includes a frame 1, a battery compartment 601, a cover, a walking assembly 5, a work assembly 4, a vehicle controller 33, and a detection assembly.

[0372] The battery compartment 601 is located at the rear of the frame 1. The battery compartment 601 contains a removable battery pack, which the user can freely remove or place.

[0373] The coverings include a left covering 7 and a right covering 8, which at least cover a portion of the frame 1.

[0374] The vehicle controller 33 is connected to the travel assembly 5 and / or the work assembly 4 for controlling the travel assembly 5 and / or the work assembly 4 to achieve the purpose of driving the vehicle and / or performing work.

[0375] The detection component is used to detect the vehicle's location information and / or surrounding environmental information. Furthermore, the detection component includes multiple detector units, a control module, and a wiring system.

[0376] The detector unit is configured on the frame 1, the left cover, the right cover 8, or the battery compartment 601 to detect the vehicle's position and / or environmental information around the vehicle based on any of the above locations.

[0377] The control module generates vehicle location information and / or environmental information around the vehicle based on the received detector signals.

[0378] The connecting line system connects each detector unit and the control module, enabling the detector unit to send signals to the control module, and the control module to send control signals to the detector unit via the connecting line system, such as controlling the detector unit to turn on or off.

[0379] In some optional embodiments, the detector unit is detachably connected to the wiring system for easy assembly and maintenance.

[0380] In some optional embodiments, the control module is detachably connected to the wiring system for easy assembly and maintenance.

[0381] In some optional embodiments, the control module is an ultrasonic ECU34, the detector module is an ultrasonic detector, and the connection system connects each ultrasonic detector and the ultrasonic ECU34.

[0382] In another optional embodiment, the control module is a vision ECU, the detector module is a vision detection unit, and the connection line system connects each vision detection module and the vision ECU.

[0383] In another optional embodiment, the outdoor work vehicle includes a positioning system for acquiring vehicle positioning data, which includes satellite positioning data and / or indoor positioning data based on wireless communication technologies (such as Wi-Fi, Bluetooth Low Energy (BLE), ZigBee, UWB, etc.). The control module is a positioning control module, the detector module is a positioning unit that receives positioning signals, and a connecting line system connects each positioning unit and the positioning control module. Exemplarily, the positioning system can use an RTK (Real-time kinematic) carrier phase differential technology for satellite positioning. Specifically, the positioning control module is an RTK rover station, and the positioning unit is an RTK antenna that receives base station positioning signals and satellite positioning signals. The positioning unit sends the received positioning signals to the RTK rover station, which calculates the precise position of the RTK antennas based on the differential positioning signals received by the positioning unit. Then, in conjunction with the actual positions of each RTK antenna on the vehicle body, the RTK rover station determines the vehicle's orientation. When the vehicle is stationary, the arrangement of two or more RTK antennas allows the RTK rover station to quickly determine the vehicle's orientation, i.e., the direction of travel at the moment of vehicle startup.

[0384] Additionally, outdoor work vehicles also include an inertial measurement unit (IMU) and an odometer (Odo). The inertial measurement unit is configured to acquire signals related to the vehicle's position and attitude during operation, while the odometer is configured to acquire data signals related to the distance traveled during operation.

[0385] In some optional embodiments, the connection system includes a first terminal, a plurality of second terminals, and a wire assembly, wherein the first terminal is used to connect to a control module, the plurality of second terminals are used to connect to various detector units, and the wire assembly is used to connect the first terminal and the plurality of second terminals.

[0386] In some optional embodiments, the control module includes a third terminal that forms a detachable connection with the first terminal.

[0387] In some optional embodiments, the detector unit includes a fourth terminal that forms a detachable connection with the second terminal.

[0388] In some optional embodiments, the control module is positioned below the seat 3. In this embodiment, the projection of the control module onto the ground at least partially overlaps with the projection of the seat 3 onto the ground. Since the seat 3 is located almost in the center of the vehicle, the distance between each detector unit and the control module is approximately equal, and the signal transmission time from each detector unit to the control module is approximately equal. This allows the control module to collect the signals generated by the detector units at the same time in the shortest possible time and generate the corresponding control signal. In other words, the delay in the control module's response to the signals detected by each detector unit is minimized.

[0389] Exemplary, in some optional embodiments, reference is made to the appendix Figure 30 The control module is an ultrasonic ECU 34, the connection system is an ultrasonic connection system 35, and the detector unit is an ultrasonic detector unit 36. The ultrasonic ECU 34 includes an ECU body 341 and an ECU third terminal 342; the ultrasonic connection system 35 includes a first terminal 351, a second terminal 352, and an ultrasonic wire assembly 353, which connects the first terminal 351 to multiple second terminals 352; the ultrasonic detector unit 36 ​​includes an ultrasonic detector body 361 and a detector fourth terminal 362. The first terminal 351 and the ECU third terminal 342 are detachably connected, and the second terminal 352 and the detector fourth terminal 362 are detachably connected.

[0390] In some optional embodiments, the control module is located at the left cover 7 or the right cover 8, meaning that the left or right cover 8 also provides coverage and protection for the control module. In this embodiment, the projection of the control module on the ground coincides with the projection of the left or right cover 7 or the right cover 8 on the ground.

[0391] In some optional embodiments, the outdoor work vehicle further includes a power management module, which controls the vehicle's power supply system, specifically controlling the energy supply to the entire vehicle. In some embodiments, the power management module is functionally equivalent to the power management device 603 described above. The control module and the power management module at least partially overlap on the ground projection or the distance between their ground projections is less than or equal to 10 cm. Since the communication between the power management module and the vehicle controller 33 is relatively frequent, and the control module in this embodiment also needs to communicate frequently with the vehicle controller 33, this embodiment places the control module and the power management module close together so that they can share the same communication bus to communicate with the vehicle controller 33. Exemplarily: the control module first sends a signal to the power management module, and the power management module then forwards the signal from the control module to the vehicle controller 33. It should be noted that the power management module here can preprocess the signal from the control module or send it directly to the vehicle controller 33 without processing; finally, the vehicle controller 33 controls the vehicle based on the signal sent by the control module.

[0392] In some embodiments, the sum of the detection ranges of the detector units provides full-angle coverage around the outdoor work vehicle, such as... Figure 10 As shown, the detector unit in this application includes an ultrasonic sensor 18, and the sum of the detection ranges of the ultrasonic sensors 18 provides full-angle coverage around the outdoor work vehicle.

[0393] In some embodiments, the installation height of the detector unit on the outdoor work vehicle is 345mm to 380mm. Further, the installation height of the detector unit on the outdoor work vehicle is 345mm, 360mm or 380mm.

[0394] In some embodiments, the preset angle range of the detector unit relative to the horizontal plane is 10° to 20°. In some embodiments, the preset angle range of the detector unit relative to the horizontal plane is 10°, 15°, or 20°.

[0395] In some embodiments, the control module is signal-connected to the vehicle controller 33, and the vehicle controller 33 can adjust the vehicle's driving path and / or operating status according to the signals transmitted by the control module. This configuration is to achieve obstacle avoidance for outdoor work vehicles during operation.

[0396] In some embodiments, this application also provides an intelligent outdoor work vehicle, including a frame; a walking assembly configured on the intelligent frame and used to drive the vehicle; a work assembly configured on the intelligent frame and used to perform outdoor work; a vehicle controller, signal-connected to the walking assembly and / or the work assembly, the vehicle controller being used to control the vehicle's movement and / or work; and a detection assembly for detecting the vehicle's position information and / or environmental information around the vehicle. The detection assembly includes: multiple detector units configured on the outdoor work vehicle; and a control module that generates the vehicle's position information and / or environmental information around the vehicle based on the received signals from the detector units, the control module being signal-connected to the multiple detector units. By centrally connecting multiple sensors to a single control module, information processing from multiple sensors can be achieved by a single control module, making the connection between the sensors and the control module more convenient and saving subsequent maintenance costs. This intelligent outdoor work vehicle includes ride-on lawnmowers, intelligent lawnmowers, and push lawnmowers, etc.

[0397] In some embodiments, this application also provides an outdoor powered vehicle, including: a frame; a running gear configured on the frame and used to drive the vehicle; a vehicle controller connected to the running gear, the vehicle controller being used at least to control the vehicle's movement; and a detection component for detecting the vehicle's position information and / or environmental information surrounding the vehicle. The detection component includes: multiple detector units configured on the outdoor working vehicle; and a control module connected to the multiple detector units, the control module generating environmental information surrounding the vehicle based on the received signals from the multiple detector units. This outdoor powered vehicle includes all-terrain vehicles, snowplows, and snow blowers, etc.

[0398] This application is not limited to the specific embodiments described above. Those skilled in the art will readily understand that many alternative solutions exist without departing from the principles and scope of this application. The scope of protection of this application is determined by the claims.

Claims

1. An upgrade system for outdoor work vehicles, said upgrade system being used at least to upgrade existing outdoor work vehicles that do not have or do not fully have automatic operation functions into intelligent outdoor work vehicles with automatic operation functions, characterized in that, The existing outdoor work vehicles include: Frame; A cover, at least covering a portion of the vehicle frame; The walking assembly is configured to support the movement of the existing outdoor work vehicle; The task component is configured to perform outdoor tasks; An energy source system, at least configured to provide a power source for the existing outdoor work vehicle, the energy source system including a battery compartment; The vehicle controller is configured at least to control the existing outdoor work vehicle to travel in a predetermined direction and / or perform outdoor work. The upgrade system includes: A connecting component is disposed in at least one of the vehicle frame, the cover, and the battery compartment; A detection component is disposed on the connection component, and the detection component is configured to detect the location information of the intelligent outdoor operation vehicle and / or the environmental information around the vehicle. The computing power main control module is signal-connected to the vehicle controller and the detection component, and the computing power main control module is at least used to enable the intelligent outdoor operation vehicle to avoid obstacles during driving; The detection components include a first type of detection component and a second type of detection component. The computing power main control module acquires the location information and / or surrounding environmental information of the intelligent outdoor operation vehicle based on the first type of detection component and generates a signal indicating whether there are obstacles around the vehicle. The second type of detection component generates a signal indicating whether there are obstacles around the vehicle based on its perception of the environment around the intelligent outdoor operation vehicle. Both the computing power control module and the second type of detection component send signals to the vehicle controller indicating the presence or absence of obstacles around the intelligent outdoor work vehicle. Based on these signals, the vehicle controller controls the walking component and / or the work component to change their output power or stop working.

2. The upgrade system for outdoor work vehicles according to claim 1, characterized in that: The computing power main control module sends a signal to the vehicle controller via the first communication bus indicating whether there are obstacles around the vehicle, and the second type of detection component sends a signal to the vehicle controller via the second communication bus indicating whether there are obstacles around the vehicle.

3. The upgrade system for outdoor work vehicles according to claim 1, characterized in that: The computing power control module and the second type of detection component send signals to the vehicle controller via the same communication bus to indicate whether there are obstacles around the vehicle.

4. The upgrade system for outdoor work vehicles according to claim 1, characterized in that: The first type of detection component includes a first type of detection unit and a first type of detection controller. The first type of detection controller generates a signal that can be recognized by the computing power main control module based on the signal output by the first type of detection unit.

5. The upgrade system for outdoor work vehicles according to claim 1, characterized in that: The second type of detection component includes a second type of detection unit and a second type of detection controller. The second type of detection controller generates a signal indicating the presence or absence of obstacles around the intelligent outdoor work vehicle based on the signal output by the first type of detection unit.

6. The upgrade system for outdoor work vehicles according to claim 1, characterized in that: The existing outdoor operation vehicle also includes a power management device. The computing power main control module includes a first power connection terminal and a first power supply terminal. The computing power main control module obtains the power of the power management device through the first power connection terminal and supplies power to the first type of detection component through the first power supply terminal.

7. The upgrade system for outdoor work vehicles according to claim 1, characterized in that: The outdoor operation vehicle also includes a power management device. The vehicle controller is provided with a second power connection terminal and a second power supply terminal. The vehicle controller obtains the power from the power management device through the second power connection terminal and converts the power into power to supply the second type of detector component through the second power supply terminal.

8. The upgrade system for outdoor work vehicles according to claim 1, characterized in that: The main computing power control module is located between the seat and the battery compartment of the intelligent outdoor work vehicle; or, The main computing power control module is located above the seat of the intelligent outdoor work vehicle.

9. The upgrade system for outdoor work vehicles according to claim 1, characterized in that: The first type of detection component provides full-angle coverage around the intelligent outdoor work vehicle.

10. The upgrade system for outdoor work vehicles according to claim 1, characterized in that: The first type of detection component includes at least one of a visual sensor and a lidar.

11. The upgrade system for outdoor work vehicles according to claim 1, characterized in that: The first type of detection component includes a visual sensor, which is located at a height of 400mm to 680mm in the intelligent outdoor work vehicle.

12. The upgrade system for outdoor work vehicles according to claim 1, characterized in that: The first type of detection component includes a visual sensor, the visual sensor having a preset angle range of -15° to 5° relative to the horizontal plane.

13. The upgrade system for outdoor work vehicles according to claim 1, characterized in that: The first type of detection component includes a lidar, and the lidar is located at a height of 420mm to 635mm on the intelligent outdoor work vehicle.

14. The upgrade system for outdoor work vehicles according to claim 1, characterized in that: The first type of detection component includes a lidar, wherein the lidar has a preset angle range of 0° to 5° relative to the horizontal plane.

15. The upgrade system for outdoor work vehicles according to claim 1, characterized in that: The second type of detection components provides full-angle coverage around the intelligent outdoor work vehicle.

16. The upgrade system for outdoor work vehicles according to claim 1, characterized in that: The second type of detection component includes at least one of an ultrasonic sensor and a collision detection device.

17. The upgrade system for outdoor work vehicles according to claim 1, characterized in that: The second type of detection component includes an ultrasonic sensor, which is installed at a height of 345mm to 380mm on the intelligent outdoor work vehicle.

18. The upgrade system for outdoor work vehicles according to claim 1, characterized in that: The second type of detection component includes an ultrasonic sensor, wherein the ultrasonic sensor has a preset angle range of 10° to 20° relative to the horizontal plane.

19. The upgrade system for outdoor work vehicles according to claim 1, characterized in that: It also includes a satellite positioning receiving antenna and a satellite positioning mobile station installed on the intelligent outdoor operation vehicle. The satellite positioning receiving antenna is used to receive satellite signals and transmit the received satellite signals to the satellite positioning mobile station. The satellite positioning mobile station is signal-connected to the computing power main control module.

20. The upgrade system for outdoor work vehicles according to claim 19, characterized in that: The satellite positioning receiving antenna is provided in two parts, and the distance between the two satellite positioning receiving antennas ranges from 260mm to 1300mm.

21. An intelligent outdoor work vehicle, characterized in that, include: Frame; A cover, at least covering a portion of the vehicle frame; The walking component is configured to support the movement of the intelligent outdoor work vehicle; The task component is configured to perform outdoor tasks; An energy source system, configured to provide a power source for the intelligent outdoor work vehicle, includes a battery compartment. The vehicle controller is configured to at least control the intelligent outdoor work vehicle to travel in a predetermined direction and / or perform outdoor work. A connecting component is disposed in at least one of the vehicle frame, the cover, and the battery compartment; A detection component is disposed on the connection component, and the detection component is configured to detect the location information of the intelligent outdoor operation vehicle and / or the environmental information around the vehicle. The computing power main control module is signal-connected to the vehicle controller and the detection component, and the computing power main control module is at least used to enable the intelligent outdoor operation vehicle to avoid obstacles during driving; The detection components include a first type of detection component and a second type of detection component. The computing power main control module acquires the location information and / or surrounding environmental information of the intelligent outdoor operation vehicle based on the first type of detection component and generates a signal indicating whether there are obstacles around the vehicle. The second type of detection component generates a signal indicating whether there are obstacles around the vehicle based on its perception of the environment around the intelligent outdoor operation vehicle. Both the computing power control module and the second type of detection component send signals to the vehicle controller indicating the presence or absence of obstacles around the intelligent outdoor work vehicle. Based on these signals, the vehicle controller controls the walking component and / or the work component to change their output power or stop working.

22. The intelligent outdoor work vehicle according to claim 21, characterized in that: The computing power main control module sends a signal to the vehicle controller via the first communication bus indicating whether there are obstacles around the vehicle, and the second type of detection component sends a signal to the vehicle controller via the second communication bus indicating whether there are obstacles around the vehicle.

23. The intelligent outdoor work vehicle according to claim 21, characterized in that: The computing power control module and the second type of detection component send signals to the vehicle controller via the same communication bus to indicate whether there are obstacles around the vehicle.

24. An upgrade system for outdoor work vehicles, said upgrade system being used at least to upgrade existing outdoor work vehicles that do not have or do not fully have automatic operation functions into intelligent outdoor work vehicles with automatic operation functions, characterized in that, The existing outdoor work vehicles include: Frame; A cover, at least covering a portion of the vehicle frame; The walking assembly is configured to support the movement of the existing outdoor work vehicle; The task component is configured to perform outdoor tasks; An energy source system, at least configured to provide a power source for the existing outdoor work vehicle, the energy source system including a battery compartment; The vehicle controller is configured at least to control the existing outdoor work vehicle to travel in a predetermined direction and / or perform outdoor work. The upgrade system includes: A connecting component is disposed in at least one of the vehicle frame, the cover, and the battery compartment; A detection component is disposed on the connection component, and the detection component is configured to detect the location information of the intelligent outdoor operation vehicle and / or the environmental information around the vehicle. The computing power main control module is signal-connected to the vehicle controller and the detection component, and the computing power main control module is at least used to enable the intelligent outdoor operation vehicle to avoid obstacles during driving; The detection components include a first type of detection component and a second type of detection component. The computing power main control module acquires the location information and / or surrounding environmental information of the intelligent outdoor operation vehicle based on the first type of detection component and generates a signal indicating whether there are obstacles around the vehicle. The second type of detection component generates a signal indicating whether there are obstacles around the vehicle based on its perception of the environment around the intelligent outdoor operation vehicle. The computing power main control module sends a signal to the vehicle controller via the first communication bus to indicate whether there are obstacles around the vehicle, and the second type of detection component sends a signal to the vehicle controller via the second communication bus to indicate whether there are obstacles around the vehicle. The vehicle controller controls the walking component and / or the working component to change the output power or stop working based on the presence or absence of an obstacle signal.

25. The upgrade system for outdoor work vehicles according to claim 24, characterized in that: The first type of detection component includes a first type of detection unit and a first type of detection controller. The first type of detection controller generates a signal that can be recognized by the computing power main control module based on the signal output by the first type of detection unit.

26. The upgrade system for outdoor work vehicles according to claim 24, characterized in that: The second type of detection component includes a second type of detection unit and a second type of detection controller. The second type of detection controller generates a signal indicating the presence or absence of obstacles around the intelligent outdoor work vehicle based on the signal output by the first type of detection unit.

27. The upgrade system for outdoor work vehicles according to claim 24, characterized in that: The existing outdoor operation vehicle also includes a power management device. The computing power main control module includes a first power connection terminal and a first power supply terminal. The computing power main control module obtains the power of the power management device through the first power connection terminal and supplies power to the first type of detection component through the first power supply terminal.

28. The upgrade system for outdoor work vehicles according to claim 24, characterized in that: The outdoor operation vehicle also includes a power management device. The vehicle controller is provided with a second power connection terminal and a second power supply terminal. The vehicle controller obtains electrical energy from the power management device through the second power connection terminal and converts the electrical energy, and supplies power to the second type of detector component through the second power supply terminal.

29. A method for upgrading an outdoor work vehicle, used to upgrade an existing outdoor work vehicle that does not have or does not fully have automatic operation functions to an intelligent outdoor work vehicle with fully automatic operation functions, characterized in that: The existing outdoor work vehicles include: Frame; A cover, at least covering a portion of the vehicle frame; The walking assembly is configured to support the movement of the existing outdoor work vehicle; The task component is configured to perform outdoor tasks; An energy source system, at least configured to provide a power source for the existing outdoor work vehicle, the energy source system including a battery compartment; The vehicle controller is configured at least to control the existing outdoor work vehicle to travel in a predetermined direction and / or perform outdoor work. The upgrade method includes the following steps: The mounting location shall be determined at least on the frame and / or cover of the existing outdoor work vehicle; Install the connection assembly at the installation location; Install a detection component on the connection component; A computing power control module is installed on the existing outdoor operation vehicle, and the computing power control module is connected to the vehicle controller and at least to some of the detection components.

30. The method for upgrading an outdoor work vehicle according to claim 29, characterized in that: Determining the installation location on the existing outdoor work vehicle includes: Positioning devices are used to locate and mark multiple locations on the frame and / or cover of the existing outdoor work vehicle, forming multiple marking points to be processed; Multiple marking points on the vehicle frame and / or the cover are processed using processing equipment to form multiple mounting positions.

31. The method for upgrading an outdoor work vehicle according to claim 30, characterized in that: The positioning device includes multiple fixtures with holes, each fixture being adapted to the shape of the location on the frame and / or the cover where the connecting components need to be installed; Using a positioning device, multiple locations on the frame and / or cover of the existing outdoor work vehicle are located and marked to form multiple marker points to be processed, including: Each of the fixtures is fitted to the location on the frame and / or the cover where the connecting components need to be installed. A marking tool is used to mark the corresponding holes on the frame and / or the cover, forming multiple marking points to be processed. Multiple marking points on the vehicle frame and / or the cover are processed using processing equipment to form multiple mounting positions.

32. The method for upgrading an outdoor work vehicle according to claim 30, characterized in that: Positioning equipment is used to locate and mark multiple positions on the frame and / or cover of the existing outdoor work vehicle, forming multiple marker points to be processed, including: Based on the required height for installation of the connecting components, the positioning device is used to perform preliminary positioning of multiple points on the vehicle frame and / or the cover; Adjust the height of the output end of the positioning device to adjust multiple preliminary positioning points on the vehicle frame and / or the cover to multiple determined positioning points, and mark the multiple determined positioning points to form multiple marked points to be processed.

33. The method for upgrading an outdoor work vehicle according to claim 30, characterized in that: The process of using processing equipment to process multiple marking points on the vehicle frame and / or the cover to form multiple mounting positions includes: The processing equipment is used to process multiple marking points on the vehicle frame and / or the cover at a preset height to form multiple mounting positions for installing connecting components at a preset height.

34. The method for upgrading an outdoor work vehicle according to claim 33, characterized in that: The processing equipment includes a drilling device, and the processing includes drilling holes in a plurality of the marked points to be processed using the drilling device.

35. The method for upgrading an outdoor work vehicle according to claim 29, characterized in that: Determining the installation location on the existing outdoor work vehicle also includes: Locate multiple reserved positions on the frame and / or cover of the existing outdoor work vehicle, and adjust these reserved positions into multiple mounting positions for installing connection components.

36. The method for upgrading an outdoor work vehicle according to claim 35, characterized in that: The reserved location is a mounting hole; Adjusting multiple reserved positions into multiple mounting positions for installing connection components includes: Remove the plugs from the mounting holes and / or enlarge the mounting holes.

37. The method for upgrading an outdoor work vehicle according to claim 30, characterized in that: The connecting component includes a first connector and a second connector that are adapted to the shape of the plurality of mounting positions. Both the first connector and the second connector are provided with connection positions for connecting the detection component. The first connector and its connection positions are at a preset angle, and the second connector and its connection positions are at a preset angle. Installing the connection assembly at the installation location includes: A first connector or a second connector adapted to the shape of the mounting position is provided on each of the plurality of mounting positions with preset heights, so that the first connector or the second connector is set on the corresponding mounting position according to a preset height and a preset angle, forming a connection position with a preset height and a preset angle on the first connector and / or the second connector.

38. The method for upgrading an outdoor work vehicle according to claim 37, characterized in that: The detection component includes at least one of an ultrasonic sensor, a visual sensor, and a lidar. Installing a detection component on the connection component includes: At least one of the ultrasonic sensor, vision sensor, and lidar is positioned as needed at the connection position of the first connector and / or the connection position of the second connector, which have a preset height and a preset angle, so that at least one of the ultrasonic sensor, vision sensor, and lidar has a preset height and angle after installation.

39. The method for upgrading an outdoor work vehicle according to claim 38, characterized in that: Equipping the existing outdoor work vehicle with a computing power control module, and connecting the computing power control module to the vehicle controller and at least some of the detection components via signal connection, includes: The visual sensor and lidar are connected to the computing power control module via a first communication bus.

40. The method for upgrading an outdoor work vehicle according to claim 38, characterized in that: The upgrade method also includes connecting the ultrasonic sensor to the vehicle controller via a second communication bus.

41. The method for upgrading an outdoor work vehicle according to claim 38, characterized in that: The vision sensor is located at a height of 400mm to 680mm in the intelligent outdoor work vehicle.

42. The method for upgrading an outdoor work vehicle according to claim 38, characterized in that: The preset angle range of the visual sensor relative to the horizontal plane is -15° to 5°.

43. The method for upgrading an outdoor work vehicle according to claim 38, characterized in that: The lidar is located at a height of 420mm to 635mm on the intelligent outdoor work vehicle.

44. The method for upgrading an outdoor work vehicle according to claim 38, characterized in that: The preset angle range of the lidar relative to the horizontal plane is 0° to 5°.

45. The method for upgrading an outdoor work vehicle according to claim 38, characterized in that: The ultrasonic sensor is installed at a height of 345mm to 380mm on the intelligent outdoor work vehicle.

46. ​​The method for upgrading an outdoor work vehicle according to claim 38, characterized in that: The preset angle range of the ultrasonic sensor relative to the horizontal plane is 10° to 20°.

Images