A mowing robot and a method for obstacle avoidance thereof

Abstract

The application relates to the field of obstacle avoidance of mowing robots, and discloses a mowing robot, which comprises a mowing robot body, an obstacle avoidance mechanism, a mounting plate, a mounting groove and a mowing robot obstacle avoidance method.The mounting plate is fixedly connected to the front end of the mowing robot body, and the mounting groove is arranged on one side of the mounting plate.The mowing robot obstacle avoidance method comprises the following steps: S1, adjusting the state, loosening the locking nut, rotating the rotating rod through the wheel shaft, and rotating the rotating rod to 90 degrees.The application does not need to use too many electronic components for obstacle avoidance, has a simple structure, is low in cost, is convenient to maintain, does not block the movement of the mowing robot, allows the mowing robot to have enough time to retreat or turn, avoids damage to the lawn caused by the driving wheel of the mowing robot, and avoids damage to the pressure contact sensor of the mowing robot when the mowing robot is not in use.

Description

Technical Field

[0001] This invention relates to the field of obstacle avoidance technology for lawn mowing robots, and more particularly to a lawn mowing robot and its obstacle avoidance method. Background Technology

[0002] A lawnmower robot is an intelligent robotic device that can automatically mow lawns without direct human control. It uses technologies such as GPS, RTK, visual navigation, and LiDAR to achieve autonomous positioning, path planning, and obstacle avoidance, and is suitable for lawn maintenance scenarios such as courtyards, parks, and sports fields.

[0003] To avoid injury to pets or people from the blades, existing lawnmower robots mainly rely on sensors such as ultrasonic, infrared, and vision to detect obstacles and avoid them. However, ultrasonic sensors may be interfered with in grass; infrared sensors are easily affected by sunlight and have limited detection range and accuracy; and vision sensors have weak perception of height and three-dimensional information. Moreover, the above solutions are costly, complex in structure, and their electronic components are prone to failure in humid, dusty, and vibrating outdoor environments, making maintenance inconvenient. In order to better address the above problems, promote the development of industry technology, and improve core competitiveness, this application proposes a new composition structure that is different from the existing technology. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a lawnmower robot and its obstacle avoidance method. It mainly addresses the problems of high cost, complex structure, and easy failure of electronic components in outdoor humid, dusty, and vibrating environments, as well as inconvenient maintenance of existing lawnmower robot obstacle avoidance solutions.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: A lawnmower robot includes: The lawnmower robot itself; An obstacle avoidance mechanism includes a mounting plate fixedly connected to the front end of the lawnmower robot body. A mounting groove is provided on one side of the mounting plate, within which a pressure-type contact sensor is fixedly connected. A contact plate is connected to one side of the mounting plate via a rotary telescopic mechanism. A fixed post is fixedly connected to the side of the contact plate near the mounting plate. A sliding opening is provided at one end of the fixed post, within which a sliding rod is slidably connected. A pressure plate is fixedly connected to one end of the sliding rod. A compression spring is fitted on the outer side of the sliding rod, with both ends of the spring fixed to the pressure plate and the fixed post, respectively. The rotary telescopic mechanism includes two connecting plates, both fixedly connected to one side of the mounting plate. A rotating rod is rotatably connected to the opposite sides of each connecting plate via an axle. A sliding hole is provided at one end of the rotating rod, within which a sliding column is slidably connected and fixed to the contact plate. A spring is fitted on the outer side of the sliding column, with both ends of the spring fixed to the rotating rod and the contact plate, respectively. A locking assembly for fixing the rotating rod is provided on one side of the rotating rod.

[0006] As a further embodiment of the present invention, a U-shaped slot is provided on the side wall of the mounting groove, an L-shaped plate is inserted into the U-shaped slot, and a handle is fixedly connected to the top of the L-shaped plate.

[0007] Based on the aforementioned scheme, the locking assembly includes a bolt, a hole is provided on one side of the rotating rod, the bolt is inserted into the hole, an arc groove is provided on one side of both connecting plates, the bolt passes through the arc groove, a locking nut is threaded to the outside of the bolt, the arc curve angle of the arc groove is the same as the rotation angle of the rotating rod, and the telescopic length between the rotating rod and the sliding column is greater than the telescopic length between the fixed column and the sliding rod.

[0008] This invention also proposes a method for overcoming obstacles with a lawnmower robot, comprising the following steps: S1: Adjust the state, loosen the locking nut, and rotate the rotating rod through the wheel axle. When the rotating rod rotates to ninety degrees, the contact plate will rotate from a horizontal state to a vertical state. Then tighten the locking nut to lock and fix the rotating rod, so that the contact plate is in front of the lawnmower robot body. S2: Pre-operation, pull the L-shaped plate out of the U-shaped slot using the pull handle to expose the pressure-type contact sensor; S3: Obstacle Avoidance During Grass Cutting: When the lawn mowing robot is moving forward, if there is an obstacle in front of it, the contact plate will come into contact with the obstacle. This will cause the pressure plate to move closer to and press against the pressure-type contact sensor, and cause the sliding column to slide in the sliding hole and compress the spring. After the pressure-type contact sensor receives the pressure, it converts the pressure signal into an electrical signal and transmits it to the main controller inside the lawn mowing robot through the connecting wire. After receiving the electrical signal, the main controller immediately controls the lawn mowing robot to stop moving forward and controls the lawn mowing robot to move backward or turn at a certain angle according to the preset program. After the direction adjustment is completed, the main controller issues another command to drive the lawn mowing robot to continue moving forward. S4: Travel buffer. When the pressure plate contacts the pressure-type contact sensor, the lawnmower robot body is still in the forward state. At this time, the slide bar will move into the sliding opening and compress the compression spring. S5: Reset. After the contact plate disengages from the obstacle, under the elastic restoring force of the spring and compression spring, the slide column, slide rod, pressure plate and contact plate all return to their initial positions. The pressure-type contact sensor is no longer squeezed and stops sending electrical signals to the main controller. The lawnmower robot body resumes its normal straight-line movement.

[0009] The beneficial effects of this invention are as follows: 1. Mechanical obstacle avoidance: During the lawnmower robot's movement, if the contact plate encounters an obstacle, the contact plate will retract via a rotating rod and a sliding column. At this time, the pressure plate will press against the pressure-type contact sensor, causing the pressure-type contact sensor to generate an electrical signal, which is transmitted to the lawnmower robot's main controller. The main controller will then control the lawnmower robot to turn or move backward to avoid the obstacle. This method does not require too many electronic components for obstacle avoidance, has a simple structure, low cost, and is easy to maintain.

[0010] 2. Flow buffer: When the pressure plate presses on the pressure-type contact sensor, the lawnmower is still in motion. At this time, the slide bar will move into the sliding opening, so as not to obstruct the movement of the lawnmower. This gives the lawnmower enough time to reverse or turn, and avoids the lawnmower's drive wheels from damaging the lawn.

[0011] 3. The pressure-type contact sensor is protected by inserting an L-shaped plate into the U-shaped slot, thus preventing the pressure-type contact sensor from being exposed to the outside and damaged when the lawnmower robot is not in use. Attached Figure Description

[0012] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is an enlarged structural schematic diagram of the obstacle avoidance mechanism of the present invention; Figure 3 For the present invention Figure 2 Enlarged cross-sectional view of the mounting plate; Figure 4 For the present invention Figure 2 A partially enlarged cross-sectional view; Figure 5 This is a schematic diagram of the process structure of a lawnmower robot obstacle removal method proposed in this invention.

[0013] In the diagram: 1. Main body of the lawnmower robot; 2. Obstacle avoidance mechanism; 3. Mounting plate; 4. Connecting plate; 5. Rotary rod; 6. Sliding column; 7. Contact plate; 8. Fixed column; 9. Spring; 10. Compression spring; 11. Sliding rod; 12. Pressure plate; 13. L-shaped plate; 14. Fixed plate; 15. Arc groove; 16. Pressure-type contact sensor; 17. U-shaped slot; 18. Sliding hole; 19. Sliding opening; 20. Insertion hole; 21. Bolt; 22. Locking nut; 23. Pull handle; 24. Mounting groove. Detailed Implementation

[0014] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. It should be noted that, unless otherwise expressly specified and limited, the terms "installation", "connection", and "setting" should be interpreted broadly. For those skilled in the art, the specific meaning of the above terms in this patent can be understood according to the specific circumstances. Example

[0015] Reference Figures 1-5 A lawnmower robot, comprising: The lawnmower robot body 1 consists of components such as a chassis and shell, power supply, walking motor / drive wheels, mowing motor / blade, main controller, drive circuit, positioning and navigation sensors and communication module. This is existing technology and will not be described in detail here. The obstacle avoidance mechanism 2 includes a mounting plate 3, which is fixed to the front end of the lawnmower robot body 1 by bolts. A mounting groove 24 is provided on one side of the mounting plate 3. A pressure-type contact sensor 16 is fixed in the mounting groove 24 by bolts. A contact plate 7 is connected to one side of the mounting plate 3 by a rotation and telescopic mechanism. A fixing post 8 is welded to the side of the contact plate 7 near the mounting plate 3. A sliding opening 19 is provided at one end of the fixing post 8. A sliding rod 11 is slidably connected in the sliding opening 19. A pressure plate 12 is welded to one end of the sliding rod 11. A compression spring 10 is sleeved on the outside of the sliding rod 11, and the two ends of the compression spring 10 are fixed to the pressure plate 12 and the fixing post 8, respectively. Specifically, the contact plate 7 is rotated from a horizontal to a vertical position via a rotating telescopic mechanism, positioning it in front of the lawnmower robot body 1. When the lawnmower robot body 1 is mowing, if there is an obstacle in front of it, the contact plate 7 will come into contact with the obstacle. At this time, the contact plate 7 will move towards the lawnmower robot body 1 via the rotating telescopic mechanism, and the fixed column 8 will move with the contact plate 7. This will then drive the pressure plate 12 to approach and press the pressure-type contact sensor 16 via the slide rod 11. After receiving the pressure, the pressure-type contact sensor 16 will convert the pressure signal into an electrical signal and transmit it to the main controller inside the lawnmower robot body 1 via a connecting wire. After receiving the electrical signal, the main controller will immediately control the lawnmower robot body 1 to stop moving forward and control it to retreat or turn at a certain angle according to a preset program. After the direction adjustment is completed, the main controller will issue another command to drive the lawnmower robot body 1 to continue moving forward, thereby achieving the purpose of avoiding obstacles in front. This method does not require the use of too many electronic components for obstacle avoidance, has a simple structure, low cost, and is easy to maintain. The rotating telescopic mechanism has two connecting plates 4, both of which are welded to one side of the mounting plate 3. The opposite sides of the two connecting plates 4 are rotatably connected to a rotating rod 5 via a wheel axle. One end of the rotating rod 5 is provided with a sliding hole 18, and a sliding column 6 is slidably connected in the sliding hole 18. The sliding column 6 is fixed to the contact plate 7. A spring 9 is sleeved on the outside of the sliding column 6, and the two ends of the spring 9 are fixed to the rotating rod 5 and the contact plate 7 respectively. Specifically, the rotating rod 5 is rotated through the wheel axle. When the rotating rod 5 rotates to ninety degrees, the contact plate 7 is rotated from a horizontal state to a vertical state. When the contact plate 7 contacts the obstacle, the sliding rod 6 will slide in the sliding hole 18 and compress the spring 9, thereby realizing the movement of the contact plate 7. A locking assembly for fixing the rotating rod 5 is provided on one side. The locking assembly includes a bolt 21. A hole 20 is opened on one side of the rotating rod 5. The bolt 21 is inserted into the hole 20. An arc groove 15 is opened on one side of each of the two connecting plates 4. The bolt 21 passes through the arc groove 15. A locking nut 22 is threaded on the outside of the bolt 21. Specifically, when it is necessary to rotate the rotating rod 5, loosen the locking nut 22. At this time, the rotating rod 5 can be rotated through the wheel axle. During the rotation of the rotating rod 5, the bolt 21 will move along the groove of the arc groove 15. After the rotating rod 5 has rotated, the bolt 21 and the arc groove 15 will support the rotated rotating rod 5. Then tighten the locking nut 22 to lock and fix the rotating rod 5, thereby fixing the contact plate 7. The arc curve angle of the arc groove 15 is the same as the rotation angle of the rotating rod 5, so as to ensure that the bolt 21 can slide smoothly in the arc groove 15 during the rotation of the rotating rod 5, avoiding jamming or interference. The locking nut 22 adopts an anti-slip design and its threaded connection with the bolt 21 is tight, which can effectively prevent the locking nut 22 from loosening due to vibration during the movement of the lawnmower robot body 1, thereby ensuring the fixed stability of the rotating rod 5 and the contact plate 7. The telescopic length between the rotating rod 5 and the sliding column 6 is greater than the telescopic length between the fixed column 8 and the sliding rod 11. This ensures that the rotating telescopic mechanism can make sufficient displacement before the contact plate 7 contacts the obstacle and triggers the pressure-type contact sensor 16. This avoids the pressure-type contact sensor 16 being subjected to excessive instantaneous impact force due to insufficient telescopic stroke of the fixed column 8 and the sliding rod 11, thereby effectively protecting the service life of the sensor. The side wall of the mounting slot 24 is provided with a U-shaped slot 17, and an L-shaped plate 13 is inserted into the U-shaped slot 17. A handle 23 is welded to the top of the L-shaped plate 13. When the lawnmower is not in use, the L-shaped plate 13 is inserted into the U-shaped slot 17 to cover and protect the pressure contact sensor 4, so as to prevent the pressure contact sensor from being exposed to the outside and damaged when the lawnmower is not in use. When the lawnmower is in use, the L-shaped plate 13 needs to be pulled out from the U-shaped slot 17 through the handle 23 to expose the pressure contact sensor 16. It should be noted that the structure in this embodiment is applicable to the lawn mowing robot model 611 from Ruixiang Machinery Equipment Factory. The pressure-type contact sensor 4 is model WCPS300S, and the pressure-type contact sensor 4 is electrically connected to the main controller inside the lawn mowing robot body 1 through a connecting cable to transmit electrical signals to the main controller.

[0016] Working principle: When in use, loosen the locking nut 22, and the rotating rod 5 can be rotated through the wheel axle. During the rotation of the rotating rod 5, the bolt 21 will move along the groove of the arc groove 15. At the same time, the rotating rod 5 will drive the contact plate 7 to rotate through the sliding column 6. When the rotating rod 5 rotates to ninety degrees, the contact plate 7 will be rotated from the horizontal state to the vertical state. The bolt 21 and the arc groove 15 will support the rotated rod 5. Then tighten the locking nut 22 to lock and fix the rotating rod 5, so that the contact plate 7 is in front of the lawnmower robot body 1. Then pull the L-shaped plate 13 out of the U-shaped slot 17 through the pull handle 23 to expose the pressure-type contact sensor 16. Then, the lawnmower robot 1 is started to mow the grass. During the mowing process, if there is an obstacle in front, the contact plate 7 will contact the obstacle. At this time, the contact plate 7 will move towards the lawnmower robot 1, causing the sliding column 6 to slide in the sliding hole 18 and compress the spring 9. At the same time, the fixed column 8 moves with the contact plate 7, and then drives the pressure plate 12 to approach and squeeze the pressure-type contact sensor 16 through the sliding rod 11. After the pressure-type contact sensor 16 is subjected to pressure, it converts the pressure signal into an electrical signal and transmits it to the main controller inside the lawnmower robot 1 through the connecting wire. After receiving the electrical signal, the main controller immediately controls the lawnmower robot 1 to stop moving forward and controls the lawnmower robot 1 to move backward or turn at a certain angle according to the preset program. After the direction adjustment is completed, the main controller issues another command to drive the lawnmower robot 1 to continue moving forward, thereby achieving the purpose of avoiding obstacles in front. It does not require too many electronic components for obstacle avoidance, has a simple structure, low cost, and is easy to maintain. When the pressure plate 12 contacts the pressure-type contact sensor 16, the lawnmower body 1 is still in the forward state. At this time, the slide bar 11 will move into the slide opening 19 and compress the compression spring 10. Through the elastic action of the compression spring 10, the pressure-type contact sensor 16 can be effectively prevented from being damaged by excessive impact force, thus extending its service life. It will not obstruct the movement of the lawnmower, giving the lawnmower enough time to reverse or turn, and also preventing the lawnmower's drive wheels from damaging the lawn. When the contact plate 7 disengages from the obstacle, under the elastic restoring force of the spring 9 and the compression spring 10, the sliding column 6, the sliding rod 11, the pressure plate 12 and the contact plate 7 all return to their initial positions. The pressure-type contact sensor 16 is no longer squeezed and stops sending electrical signals to the main controller. The lawnmower robot body 1 returns to its normal straight-line movement. Example

[0017] Reference Figures 1-5 A lawnmower robot, comprising: The lawnmower robot body 1 consists of components such as a chassis and shell, power supply, walking motor / drive wheels, mowing motor / blade, main controller, drive circuit, positioning and navigation sensors and communication module. This is existing technology and will not be described in detail here. The obstacle avoidance mechanism 2 includes a mounting plate 3, which is fixed to the front end of the lawnmower robot body 1 by bolts. A mounting groove 24 is provided on one side of the mounting plate 3. A pressure-type contact sensor 16 is fixed in the mounting groove 24 by bolts. A contact plate 7 is connected to one side of the mounting plate 3 by a rotation and telescopic mechanism. A fixing post 8 is welded to the side of the contact plate 7 near the mounting plate 3. A sliding opening 19 is provided at one end of the fixing post 8. A sliding rod 11 is slidably connected in the sliding opening 19. A pressure plate 12 is welded to one end of the sliding rod 11. A compression spring 10 is sleeved on the outside of the sliding rod 11, and the two ends of the compression spring 10 are fixed to the pressure plate 12 and the fixing post 8, respectively. Specifically, the contact plate 7 is rotated from a horizontal to a vertical position via a rotating telescopic mechanism, positioning it in front of the lawnmower robot body 1. When the lawnmower robot body 1 is mowing, if there is an obstacle in front of it, the contact plate 7 will come into contact with the obstacle. At this time, the contact plate 7 will move towards the lawnmower robot body 1 via the rotating telescopic mechanism, and the fixed column 8 will move with the contact plate 7. This will then drive the pressure plate 12 to approach and press the pressure-type contact sensor 16 via the slide rod 11. After receiving the pressure, the pressure-type contact sensor 16 will convert the pressure signal into an electrical signal and transmit it to the main controller inside the lawnmower robot body 1 via a connecting wire. After receiving the electrical signal, the main controller will immediately control the lawnmower robot body 1 to stop moving forward and control it to retreat or turn at a certain angle according to a preset program. After the direction adjustment is completed, the main controller will issue another command to drive the lawnmower robot body 1 to continue moving forward, thereby achieving the purpose of avoiding obstacles in front. This method does not require the use of too many electronic components for obstacle avoidance, has a simple structure, low cost, and is easy to maintain. The rotating telescopic mechanism has two connecting plates 4, both of which are welded to one side of the mounting plate 3. The opposite sides of the two connecting plates 4 are rotatably connected to a rotating rod 5 via a wheel axle. One end of the rotating rod 5 is provided with a sliding hole 18, and a sliding column 6 is slidably connected in the sliding hole 18. The sliding column 6 is fixed to the contact plate 7. A spring 9 is sleeved on the outside of the sliding column 6, and the two ends of the spring 9 are fixed to the rotating rod 5 and the contact plate 7 respectively. Specifically, the rotating rod 5 is rotated through the wheel axle. When the rotating rod 5 rotates to ninety degrees, the contact plate 7 is rotated from a horizontal state to a vertical state. When the contact plate 7 contacts the obstacle, the sliding rod 6 will slide in the sliding hole 18 and compress the spring 9, thereby realizing the movement of the contact plate 7. A locking assembly for fixing the rotating rod 5 is provided on one side. The locking assembly includes a bolt 21. A hole 20 is opened on one side of the rotating rod 5. The bolt 21 is inserted into the hole 20. An arc groove 15 is opened on one side of each of the two connecting plates 4. The bolt 21 passes through the arc groove 15. A locking nut 22 is threaded on the outside of the bolt 21. Specifically, when it is necessary to rotate the rotating rod 5, loosen the locking nut 22. At this time, the rotating rod 5 can be rotated through the wheel axle. During the rotation of the rotating rod 5, the bolt 21 will move along the groove of the arc groove 15. After the rotating rod 5 has rotated, the bolt 21 and the arc groove 15 will support the rotated rotating rod 5. Then tighten the locking nut 22 to lock and fix the rotating rod 5, thereby fixing the contact plate 7. The arc curve angle of the arc groove 15 is the same as the rotation angle of the rotating rod 5, so as to ensure that the bolt 21 can slide smoothly in the arc groove 15 during the rotation of the rotating rod 5, avoiding jamming or interference. The locking nut 22 adopts an anti-slip design and its threaded connection with the bolt 21 is tight, which can effectively prevent the locking nut 22 from loosening due to vibration during the movement of the lawnmower robot body 1, thereby ensuring the fixed stability of the rotating rod 5 and the contact plate 7. The telescopic length between the rotating rod 5 and the sliding column 6 is greater than the telescopic length between the fixed column 8 and the sliding rod 11. This ensures that the rotating telescopic mechanism can make sufficient displacement before the contact plate 7 contacts the obstacle and triggers the pressure-type contact sensor 16. This avoids the pressure-type contact sensor 16 being subjected to excessive instantaneous impact force due to insufficient telescopic stroke of the fixed column 8 and the sliding rod 11, thereby effectively protecting the service life of the sensor. It should be noted that the structure in this embodiment is applicable to the lawn mowing robot model 611 from Ruixiang Machinery Equipment Factory. The pressure-type contact sensor 4 is model WCPS300S, and the pressure-type contact sensor 4 is electrically connected to the main controller inside the lawn mowing robot body 1 through a connecting cable to transmit electrical signals to the main controller.

[0018] Working principle: When in use, loosen the locking nut 22, and the rotating rod 5 can be rotated through the wheel axle. During the rotation of the rotating rod 5, the bolt 21 will move along the groove of the arc groove 15. At the same time, the rotating rod 5 will drive the contact plate 7 to rotate through the sliding column 6. When the rotating rod 5 rotates to ninety degrees, the contact plate 7 will be rotated from the horizontal state to the vertical state. The bolt 21 and the arc groove 15 will support the rotated rod 5. Then tighten the locking nut 22 to lock and fix the rotating rod 5, so that the contact plate 7 is in front of the lawnmower robot body 1. Then pull the L-shaped plate 13 out of the U-shaped slot 17 through the pull handle 23 to expose the pressure-type contact sensor 16. Then, the lawnmower robot 1 is started to mow the grass. During the mowing process, if there is an obstacle in front, the contact plate 7 will contact the obstacle. At this time, the contact plate 7 will move towards the lawnmower robot 1, causing the sliding column 6 to slide in the sliding hole 18 and compress the spring 9. At the same time, the fixed column 8 moves with the contact plate 7, and then drives the pressure plate 12 to approach and squeeze the pressure-type contact sensor 16 through the sliding rod 11. After the pressure-type contact sensor 16 is subjected to pressure, it converts the pressure signal into an electrical signal and transmits it to the main controller inside the lawnmower robot 1 through the connecting wire. After receiving the electrical signal, the main controller immediately controls the lawnmower robot 1 to stop moving forward and controls the lawnmower robot 1 to move backward or turn at a certain angle according to the preset program. After the direction adjustment is completed, the main controller issues another command to drive the lawnmower robot 1 to continue moving forward, thereby achieving the purpose of avoiding obstacles in front. It does not require too many electronic components for obstacle avoidance, has a simple structure, low cost, and is easy to maintain. When the pressure plate 12 contacts the pressure-type contact sensor 16, the lawnmower body 1 is still in the forward state. At this time, the slide bar 11 will move into the slide opening 19 and compress the compression spring 10. Through the elastic action of the compression spring 10, the pressure-type contact sensor 16 can be effectively prevented from being damaged by excessive impact force, thus extending its service life. It will not obstruct the movement of the lawnmower, giving the lawnmower enough time to reverse or turn, and also preventing the lawnmower's drive wheels from damaging the lawn. When the contact plate 7 disengages from the obstacle, under the elastic restoring force of the spring 9 and the compression spring 10, the sliding column 6, the sliding rod 11, the pressure plate 12 and the contact plate 7 all return to their initial positions. The pressure-type contact sensor 16 is no longer squeezed and stops sending electrical signals to the main controller. The lawnmower robot body 1 returns to its normal straight-line movement.

[0019] This invention also proposes a method for overcoming obstacles with a lawnmower robot, comprising the following steps: S1: Adjust the state, loosen the locking nut 22, and rotate the rotating rod 5 through the wheel axle. When the rotating rod 5 rotates to ninety degrees, the contact plate 7 will rotate from a horizontal state to a vertical state. Then tighten the locking nut 22 to lock and fix the rotating rod 5, so that the contact plate 7 is located in front of the lawnmower robot body 1. S2: Pre-operation, pull the L-shaped plate 13 out of the U-shaped slot 17 using the pull handle 23 to expose the pressure-type contact sensor 16; S3: Grass cutting obstacle avoidance. During the grass cutting process, if there is an obstacle in front of the lawn mowing robot body 1, the contact plate 7 will contact the obstacle, causing the pressure plate 12 to move closer to and squeeze the pressure-type contact sensor 16, and causing the sliding column 6 to slide in the sliding hole 18 and compress the spring 9. After the pressure-type contact sensor 16 is subjected to pressure, it converts the pressure signal into an electrical signal and transmits it to the main controller inside the lawn mowing robot body 1 through the connecting wire. After receiving the electrical signal, the main controller immediately controls the lawn mowing robot body 1 to stop moving forward, and controls the lawn mowing robot body 1 to move backward or turn at a certain angle according to the preset program. After the direction adjustment is completed, the main controller issues another command to drive the lawn mowing robot body 1 to continue moving forward. S4: Travel buffer. When the pressure plate 12 contacts the pressure-type contact sensor 16, the lawnmower robot body 1 is still in the forward state. At this time, the slide bar 11 will move into the slide opening 19 and compress the compression spring 10. S5: Reset. After the contact plate 7 is no longer in contact with the obstacle, under the elastic restoring force of the spring 9 and the compression spring 10, the slide column 6, slide rod 11, pressure plate 12 and contact plate 7 are all restored to their initial positions. The pressure-type contact sensor 16 is no longer squeezed and stops sending electrical signals to the main controller. The lawnmower robot body 1 resumes its normal straight-line movement.

[0020] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A lawnmower robot, characterized in that, include: The lawnmower robot itself; An obstacle avoidance mechanism includes a mounting plate fixedly connected to the front end of the lawnmower robot body. A mounting groove is provided on one side of the mounting plate, within which a pressure-type contact sensor is fixedly connected. A contact plate is connected to one side of the mounting plate via a rotary telescopic mechanism. A fixed post is fixedly connected to the side of the contact plate near the mounting plate. A sliding opening is provided at one end of the fixed post, within which a sliding rod is slidably connected. A pressure plate is fixedly connected to one end of the sliding rod. A compression spring is fitted on the outer side of the sliding rod, with both ends of the spring fixed to the pressure plate and the fixed post, respectively. The rotary telescopic mechanism includes two connecting plates, both fixedly connected to one side of the mounting plate. A rotating rod is rotatably connected to the opposite sides of each connecting plate via an axle. A sliding hole is provided at one end of the rotating rod, within which a sliding column is slidably connected and fixed to the contact plate. A spring is fitted on the outer side of the sliding column, with both ends of the spring fixed to the rotating rod and the contact plate, respectively. A locking assembly for fixing the rotating rod is provided on one side of the rotating rod.

2. The lawnmower robot according to claim 1, characterized in that, The side wall of the mounting groove is provided with a U-shaped slot, an L-shaped plate is inserted into the U-shaped slot, and a handle is fixedly connected to the top of the L-shaped plate.

3. A lawnmower robot according to claim 1, characterized in that, The rotating rod has an insertion hole on one side, and the bolt is inserted into the insertion hole. Both connecting plates have arc-shaped grooves on one side, and the bolt passes through the arc-shaped groove. A locking nut is threaded onto the outer side of the bolt. The arc curve angle of the arc-shaped groove is the same as the rotation angle of the rotating rod. The telescopic length between the rotating rod and the sliding column is greater than the telescopic length between the fixed column and the sliding rod.

4. The structure proposed according to claims 1-3 A method for overcoming obstacles with a lawnmower robot, characterized in that, Includes the following steps: S1: Adjust the state, loosen the locking nut, and rotate the rotating rod through the wheel axle. When the rotating rod rotates to ninety degrees, the contact plate will rotate from a horizontal state to a vertical state. Then tighten the locking nut to lock and fix the rotating rod, so that the contact plate is in front of the lawnmower robot body. S2: Pre-operation, pull the L-shaped plate out of the U-shaped slot using the pull handle to expose the pressure-type contact sensor; S3: Obstacle Avoidance During Grass Cutting: When the lawn mowing robot is moving forward, if there is an obstacle in front of it, the contact plate will come into contact with the obstacle. This will cause the pressure plate to move closer to and press against the pressure-type contact sensor, and cause the sliding column to slide in the sliding hole and compress the spring. After the pressure-type contact sensor receives the pressure, it converts the pressure signal into an electrical signal and transmits it to the main controller inside the lawn mowing robot through the connecting wire. After receiving the electrical signal, the main controller immediately controls the lawn mowing robot to stop moving forward and controls the lawn mowing robot to move backward or turn at a certain angle according to the preset program. After the direction adjustment is completed, the main controller issues another command to drive the lawn mowing robot to continue moving forward. S4: Travel buffer. When the pressure plate contacts the pressure-type contact sensor, the lawnmower robot body is still in the forward state. At this time, the slide bar will move into the sliding opening and compress the compression spring. S5: Reset. After the contact plate disengages from the obstacle, under the elastic restoring force of the spring and compression spring, the slide column, slide rod, pressure plate and contact plate all return to their initial positions. The pressure-type contact sensor is no longer squeezed and stops sending electrical signals to the main controller. The lawnmower robot body resumes its normal straight-line movement.

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