Intelligent mower

Abstract

The utility model discloses an intelligent mowing machine. The intelligent mowing machine comprises a supporting piece; the laser radar is arranged on the supporting piece; and the first heat dissipation device is connected with the laser radar, and the first heat dissipation device is used for carrying out heat dissipation on the laser radar. The intelligent mower comprises the first heat dissipation device used for cooling the laser radar, heat dissipation of the laser radar is achieved, the situation that the detection precision of the laser radar is affected by heat generated when the laser radar works is avoided, and meanwhile the problem that the detection precision is affected due to overheating of a sensing device in the prior art is solved. And the detection precision of the sensing device is improved.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to a patent application filed with the State Intellectual Property Office of China on August 31, 2023, with application number 202322364315.1 and invention name “Smart Lawn Mower”, the entire contents of which are incorporated by reference into this application. Technical Field

[0003] The utility model belongs to the technical field of power tools, and in particular relates to an intelligent lawn mower. Background Art

[0004] As the most basic task of lawn maintenance, mowing requires the use of simple and efficient mowing machinery to complete the mowing task with quality and quantity. Lawn mowers are widely loved by the market due to their simple operation and high mowing efficiency. People can use lawn mowers to complete mowing tasks, trim the lawn, and keep the lawn tidy.

[0005] The early lawn mowers on the market were walk-behind lawn mowers, which controlled the direction of the mower's movement and completed the mowing operation through manual traction. However, this type of lawn mower had a low level of intelligence and required manual participation to mow. With the development of intelligence, smart lawn mowers began to appear and began to replace walk-behind lawn mowers. Smart lawn mowers can achieve automatic mowing without manual participation, thus saving labor costs. Among them, the sensor device is an important component of the smart lawn mower. The smart lawn mower can achieve detection through the sensor device and then achieve automatic mowing.

[0006] For smart lawn mowers, the detection accuracy of the sensor device is crucial. The sensor device will generate heat during its operation. When there is too much heat, it will overheat and the accuracy of the sensor device will be affected.

[0007] Therefore, in view of the above technical problems, it is necessary to provide an intelligent lawn mower. Utility Model Content

[0008] In view of this, an object of the present invention is to provide an intelligent lawn mower to overcome the problem of overheating of the sensor device in the prior art that affects the detection accuracy.

[0009] In order to achieve the above purpose, the technical solution provided by an embodiment of the present utility model is as follows:

[0010] A smart lawn mower includes a support; a laser radar, which is arranged on the support; and a first heat dissipation device, which is connected to the laser radar and is used to dissipate heat from the laser radar. The smart lawn mower of the utility model includes a first heat dissipation device for cooling the laser radar, so as to achieve heat dissipation of the laser radar and prevent the heat generated when the laser radar is working from affecting the detection accuracy of the laser radar.

[0011] Furthermore, the intelligent lawn mower further comprises a mounting plate arranged on the support, the mounting plate is connected to the first heat sink, and the laser radar is mounted on the mounting plate. The mounting plate improves the mounting surface for the laser radar to achieve the effect of positioning and mounting the laser radar.

[0012] Furthermore, the first heat sink includes a first sensor device heat sink, which is connected to the mounting plate, and the mounting plate is also used for heat conduction to transfer the heat of the laser radar to the first sensor device heat sink, and then the laser radar is cooled by the first sensor device heat sink. The heat generated by the laser radar is transferred to the first sensor device heat sink through the mounting plate, and the first sensor is used to dissipate the heat of the laser radar.

[0013] Furthermore, the first sensor device heat sink and the mounting plate are integrally arranged. The integrally arranged first sensor device heat sink and the mounting plate are conducive to direct heat transfer, thereby improving the heat conduction effect; at the same time, the integrally arranged first sensor device heat sink and the mounting plate are also convenient for production and processing, which is conducive to improving assembly efficiency; at the same time, the overall strength of the first sensor device heat sink and the mounting plate is also strengthened, which is conducive to improving durability.

[0014] Furthermore, the first sensor device heat sink includes a plurality of first heat sinks, which are arranged at intervals, wherein heat dissipation gaps are formed between the plurality of first heat sinks arranged at intervals, thereby increasing the contact area with the air to improve the heat dissipation effect.

[0015] Furthermore, the first heat sink includes a third sensor device heat sink, which is mounted on the mounting plate; the third sensor device heat sink is connected to the laser radar, and the third sensor device heat sink is used to dissipate heat for the laser radar. The third sensor device heat sink is connected to the laser radar and the sensor device mounting portion, thereby transferring the heat generated by the laser radar to the sensor device mounting portion, and the third sensor device heat sink itself also has the function of heat conduction and heat dissipation, so as to cool down the laser radar.

[0016] Furthermore, the heat sink of the third sensor device includes at least one of a graphene heat sink and a heat dissipation copper tube, so as to improve the heat dissipation efficiency through the thermal conductivity of the graphene heat sink and the heat dissipation copper tube.

[0017] Furthermore, the intelligent lawn mower also includes a sensor device heat conductor, which is connected to the laser radar and the first heat sink respectively; the sensor device heat conductor is used to transfer the heat of the laser radar to the first heat sink. The sensor device heat conductor is respectively in contact with the laser radar and the mounting plate, thereby transferring the heat generated by the laser radar to the mounting plate, transferring the heat of the mounting plate to the first heat sink, and dissipating the heat through the multiple first heat sinks of the first heat sink.

[0018] Furthermore, the intelligent lawn mower further comprises a cover plate, which is arranged on the support member, a sensor device accommodation space is formed between the cover plate and the support member, and the laser radar is at least partially accommodated in the sensor device accommodation space; the cover plate has a through hole, and the laser radar at least partially extends outward from the through hole. A part of the laser radar is accommodated in the sensor device accommodation space, and another part extends out from the through hole, and the extended part emits laser to the environment to realize environmental sensing detection.

[0019] Furthermore, the smart lawn mower also includes an annular sleeve, which is connected to the cover plate at the through opening; the annular sleeve is provided with a sensor device extension opening matching the laser radar, and the laser radar at least partially extends outward from the sensor device extension opening. The annular sleeve can not only dissipate heat for the laser radar, but also play a protective and decorative role.

[0020] Furthermore, the intelligent lawn mower also includes an annular sleeve, on which a sensor device extension port matching the laser radar is provided, and the laser radar at least partially extends outward from the sensor device extension port.

[0021] Furthermore, the first heat dissipation device is at least partially accommodated in the sensor device accommodation space, and at least one first heat dissipation port is provided on the annular sleeve, and the first heat dissipation port can connect the sensor device accommodation space and the external space to discharge the heat of the laser radar. The first heat dissipation port is used to discharge hot air and thus achieve a heat dissipation effect. When the lawn mower moves, it will drive the surrounding air to flow, and the setting of the first heat dissipation port can accelerate the heat dissipation when the lawn mower moves.

[0022] Furthermore, the first heat dissipation port is at least one of a notch structure and a heat dissipation hole. In this way, it is convenient to adjust the structure of the first heat dissipation port according to the overall layout of the intelligent lawn mower to maximize the heat dissipation efficiency.

[0023] Furthermore, the first heat dissipation device is at least partially accommodated in the sensor device accommodation space, and at least one second heat dissipation port is provided between the cover plate and the support member, and the second heat dissipation port can connect the sensor device accommodation space and the external space to discharge the heat of the laser radar. The airflow can flow into the second heat dissipation port formed between the cover plate and the support member to improve the heat dissipation efficiency.

[0024] Furthermore, the first heat dissipation device is at least partially accommodated in the sensor device accommodation space, and at least one third heat dissipation port is provided on the support member, and the third heat dissipation port can connect the sensor device accommodation space and the external space to discharge the heat of the laser radar. The third heat dissipation port is connected to the sensor device accommodation space, thereby realizing that the third heat dissipation port has the function of assisting the heat dissipation of the laser radar.

[0025] Furthermore, the first heat dissipation device at least partially extends from the third heat dissipation opening to the external space, and the third heat dissipation opening provides an escape position for the installation of the first heat dissipation device.

[0026] Furthermore, the intelligent lawn mower further comprises a second heat sink, which is arranged beside the laser radar. The second heat sink is used to actively dissipate heat towards the laser radar on the side, which is beneficial to improving the heat dissipation efficiency of the laser radar.

[0027] Furthermore, the second heat sink is used to perform air cooling on the laser radar. The second heat sink uses air cooling to cool the laser radar, and the second heat sink can be a fan, which provides a heat dissipation wind source for the laser radar.

[0028] Furthermore, the laser radar includes a radar body and a second sensor device heat sink, the radar body and the second sensor device heat sink are fixedly connected, and the second sensor device heat sink is used to dissipate heat for the radar body. The second sensor device heat sink is arranged on the peripheral side of the laser radar, and the second sensor device heat sink is directly connected to the radar body and is used to dissipate heat for the laser radar.

[0029] Furthermore, the heat sink of the second sensor device includes a plurality of second heat sinks, which are arranged at intervals. The heat generated by the laser radar can be dissipated through the design of the second heat sinks.

[0030] Furthermore, the intelligent lawn mower further comprises a housing, and the supporting member is the housing. The laser radar is mounted on the housing, which is conducive to improving the stability of the laser radar installation.

[0031] Furthermore, the laser radar integrates at least two of the navigation, obstacle avoidance and weather detection functions of the smart lawn mower. The smart lawn mower of the utility model has at least two of the navigation, obstacle avoidance and weather detection functions. The smart lawn mower integrating multiple functions significantly improves the degree of automation, which is conducive to improving work efficiency, reducing manual participation and improving user experience during actual use.

[0032] Furthermore, the laser radar integrates the navigation and obstacle avoidance functions of the smart lawn mower. The laser radar with navigation function is conducive to the path planning and guidance of the smart lawn mower during its operation, so as to control the direction of travel of the smart lawn mower through the navigation function and improve the efficiency of the smart lawn mower; at the same time, the laser radar with obstacle avoidance function is conducive to avoiding the collision between the smart lawn mower and obstacles during the operation of the smart lawn mower, which is conducive to enhancing the safety of the use of the smart lawn mower.

[0033] Furthermore, the number of laser radars integrated with the navigation and obstacle avoidance functions of the smart lawn mower is only one. The smart lawn mower of the utility model is only provided with one laser radar on its casing, which realizes the functions of navigation and obstacle avoidance by providing one laser radar, thus simplifying the hardware structure and overcoming the problem of complex control system caused by using multiple external sensors in the prior art. The present application only uses one laser radar, which saves costs and improves the product experience.

[0034] Furthermore, the LiDAR also integrates a weather detection function. Weather detection can be performed through LiDAR; that is, LiDAR is used for navigation, obstacle avoidance and weather detection of the smart lawn mower. The smart lawn mower can not only achieve navigation and obstacle avoidance, but also includes a weather detection function to achieve adaptive adjustment of the working state by detecting weather conditions, which is conducive to improving the safety of the use of the smart lawn mower and the efficiency of work.

[0035] Furthermore, the number of laser radars that integrate the navigation, obstacle avoidance and weather detection functions of the smart lawn mower is only one. The support of the smart lawn mower of the utility model is only provided with one laser radar, which realizes the functions of navigation, obstacle avoidance and weather detection by providing one laser radar, simplifies the hardware structure, and also overcomes the problem of complex control system caused by using multiple external sensors in the prior art. The present application only uses one laser radar to save costs and improve the product experience.

[0036] Furthermore, the center of the environment detection sensor device is located on the midline of the width direction of the housing, so that the laser radar is arranged on the midline of the housing along the width direction, which is conducive to accurately detecting the left and right ends of the front of the machine, and can also facilitate obstacle avoidance in the lawn mower.

[0037] Furthermore, the environment detection sensor device is arranged at an angle at the front end area of ​​the top of the housing. The laser radar is arranged on the housing at an angle relative to the horizontal plane, so that the front blind area of ​​the smart lawn mower can be minimized. It should be noted that the laser radar is arranged at the front end area of ​​the top of the housing to realize environmental monitoring of the area in the forward direction of the smart lawn mower.

[0038] Furthermore, the mounting plate has a sensor mounting portion, the laser radar is mounted on the sensor mounting portion, and along the direction of travel of the smart lawn mower, the rear end of the sensor mounting portion is higher than the front end of the sensor mounting portion, so that along the direction of travel of the smart lawn mower, the rear end of the laser radar is higher than the front end of the laser radar. This forms a sensor mounting portion that is tilted relative to the horizontal plane along the direction of travel of the smart lawn mower, and then the laser radar is also in a tilted state when installed on the sensor mounting portion, so as to facilitate the detection of the environment and the real-time detection and mapping of the terrain, thereby avoiding obstacles and performing precise operations.

[0039] Furthermore, the angle between the sensor installation part and the horizontal plane is 10-60 degrees. When the angle between the laser radar installation part and the horizontal plane is too small, the distance between the laser radar detection range and the edge of the fuselage is large, and the blind area formed is also large; when the angle between the laser radar installation part and the horizontal plane is too large, the laser radar cannot detect the side and rear of the lawn mower, which is not conducive to obstacle avoidance.

[0040] Furthermore, the angle between the mounting portion of the sensor device and the horizontal plane is 15-30°. When the angle between the mounting portion of the laser radar and the horizontal plane is 15-30°, it is convenient to control the distance between the detection area of ​​the radar body and the edge of the machine to be less than or equal to 0.2m. The present application adopts an angle between the mounting portion and the horizontal plane of 15-30°, which effectively reduces the impact of the casing on the detection area of ​​the radar body, and the detection range of the radar body is larger, which greatly reduces the blind spot of the edge of the fuselage, thereby improving the detection efficiency of the smart lawn mower, which is conducive to improving the accuracy of navigation and obstacle avoidance of smart lawn mowing.

[0041] Furthermore, the horizontal field of view of the laser radar is 360°, and the vertical field of view is greater than or equal to 30°. The larger the vertical field of view, the larger the detectable range of the laser radar, the smaller the distance between the detectable area of ​​the laser radar and the edge of the machine, and the smaller the blind spot. When a laser radar with a vertical field of view greater than or equal to 30° is used, and the installation position on the lawn mower is determined by the aforementioned parameters, the detection range can be increased while reducing the distance between the laser radar detection range and its edge, thereby achieving the technical effect of reducing the blind spot.

[0042] Furthermore, the laser radar includes a radar body, and the horizontal distance between the laser emitting part of the radar body and the front end of the casing is greater than or equal to 30 mm. The closer the laser emitting part of the radar body is to the front end of the casing, the larger the blind area of ​​the machine will be. Therefore, it is necessary to control the horizontal distance L between the laser emitting part of the radar body and the front end of the casing to be greater than 30 mm, which is conducive to reducing the blind area.

[0043] Furthermore, the horizontal distance between the laser emitting part of the radar body and the front end of the casing is 40mm-180mm. When the horizontal distance L between the radar body and the front end of the casing is set within the range of 40mm-180mm, it is convenient to control the distance between the detection area of ​​the radar body and the edge of the machine within a range of less than or equal to 0.2m. When the horizontal distance L between the radar body and the front end of the casing is set within the range of 40mm-180mm, the impact of the casing on the detection area of ​​the radar body is effectively reduced, the detection range of the radar body is larger, and the blind spot of the edge of the fuselage is greatly reduced, thereby improving the detection efficiency of the smart lawn mower, which is conducive to improving the accuracy of navigation and obstacle avoidance of smart lawn mowing.

[0044] Furthermore, along the width direction of the casing, the casing has a first end side and a second end side that are relatively arranged, and the distance between the front end of the first end side and the front end of the second end side is less than or equal to 600 mm, which can prevent the laser radar arranged on the mounting plate from being unable to detect the environment and terrain on both sides of the fuselage.

[0045] Furthermore, the angle between the first plane where the heat sink of the first sensor device is located and the second plane where the heat sink of the second sensor device is located is greater than 90° and less than or equal to 180°. The first plane and the second plane are arranged at an obtuse angle so that there is a preset distance between the heat sink of the first sensor device and the heat sink of the second sensor device, which is beneficial to the heat dissipation efficiency of the heat sink of the first sensor device and the heat sink of the second sensor device. And the first plane and the second plane are arranged at an obtuse angle to form an avoidance space to facilitate the installation of the laser radar.

[0046] The utility model has the following beneficial effects:

[0047] The intelligent lawn mower of the utility model comprises a first heat dissipation device for cooling the laser radar, thereby achieving heat dissipation of the laser radar and preventing the heat generated when the laser radar is working from affecting the detection accuracy of the laser radar.

[0048] The intelligent lawn mower of the utility model has only one laser radar on its support part. By setting up one laser radar, the functions of navigation, obstacle avoidance and weather detection are realized, which simplifies the hardware structure. At the same time, it also overcomes the problem of complex control system caused by using multiple external sensors in the prior art. The present application only uses one laser radar, which saves costs and improves the product experience.

[0049] The intelligent lawn mower of the utility model can detect and map the terrain in real time by setting a laser radar, so as to avoid obstacles and operate accurately, making the operation of the lawn mower more stable and safe. In addition, the field of view of the laser radar in the present application can see the nearest points of the front end, left end and right end of the machine, thereby further improving the safety of the operation of the lawn mower. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0051] Figure 1 This is a schematic diagram of the three-dimensional structure of an intelligent lawn mower in a specific embodiment of the utility model;

[0052] Figure 2 A top view of an intelligent lawn mower in a specific embodiment of the utility model;

[0053] Figure 3 It is a front view of an intelligent lawn mower in a specific embodiment of the utility model;

[0054] Figure 4 for Figure 3 A local enlarged view of point F in FIG.

[0055] Figure 5 for Figure 3 A local enlarged view of point H in FIG.

[0056] Figure 6 It is a three-dimensional structural schematic diagram of an annular sleeve in a specific embodiment of the utility model;

[0057] Figure 7 This is a schematic diagram of the bottom structure of an intelligent lawn mower in a specific embodiment of the utility model;

[0058] Figure 8 It is a side view structural diagram of the intelligent lawn mower in a specific embodiment of the utility model in an uncovered state;

[0059] Fig. 9 It is a schematic diagram of the top view of the intelligent lawn mower in a specific embodiment of the utility model in an uncovered state;

[0060] Fig.10 It is a schematic diagram of the three-dimensional structure of the intelligent lawn mower in a specific embodiment of the utility model in a state without a cover;

[0061] Fig.11 It is a schematic diagram of the three-dimensional structure of the first heat dissipation device in a specific embodiment of the utility model;

[0062] Fig.12 It is a schematic diagram of the installation structure of the first heat dissipation device and the heat conducting member of the sensor device in a specific embodiment of the utility model;

[0063] Fig.13This is a schematic diagram of the installation structure of the first heat dissipation device and the laser radar in a specific embodiment of the utility model;

[0064] Fig.14 It is an exploded view of the first heat dissipation device, the heat conducting member of the sensor device and the laser radar in a specific embodiment of the utility model;

[0065] Fig.15 This is a schematic structural diagram of a third heat dissipation port in a specific embodiment of the utility model;

[0066] Fig.16 It is a schematic diagram of the top view of the structure of the second heat dissipation device in a specific embodiment of the utility model;

[0067] Fig.17 It is a schematic diagram of a top view of a structure in which a heat sink of a third sensor device is installed on a side close to a second heat sink in a specific embodiment of the utility model;

[0068] Fig.18 It is a schematic diagram of a top view of a structure in which a heat sink of a third sensor device is installed on a side away from a second heat sink in a specific embodiment of the utility model;

[0069] Fig.19 It is a three-dimensional structural schematic diagram of a specific embodiment of the utility model in which the heat sink of the third sensor device is installed on a side close to and away from the second heat sink;

[0070] Fig. 20 It is a schematic diagram of a top view of the structure in which the heat sink of the third sensor device is installed on a side close to and away from the second heat sink in a specific embodiment of the utility model.

[0071] The above drawings include the following reference numerals:

[0072] 1. Casing; 101. Third heat dissipation port; 11. Mounting plate; 111. Sensor device mounting portion; 2. Laser radar; 21. Radar body; 22. Second sensor device heat sink; 221. Second heat sink; 3. First heat sink; 31. First sensor device heat sink; 311. First heat sink; 32. Third sensor device heat sink; 321. Graphene heat sink; 322. Heat dissipation copper pipe; 4. Cover plate; 41. Through opening; 42. Second heat dissipation port; 5. Annular sleeve; 51. Sensor device extension port; 52. First heat dissipation port; 6. Sensor device heat conductor; 7. Sensor device shock absorber; 71. Mounting hole; 8. Second heat sink; 9. Auxiliary heat sink. DETAILED DESCRIPTION

[0073] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Generally, the components of the embodiments of the utility model described and shown in the drawings here can be arranged and designed in various different configurations.

[0074] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the present invention to be protected, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0075] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0076] In the description of the embodiments of the present invention, it should be understood that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the product of the application is conventionally placed when in use, or are the orientations or positional relationships conventionally understood by those skilled in the art. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0077] In the description of the embodiments of the present utility model, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0078] In the description of the embodiments of the present invention, it is also necessary to explain that the "first", "second", etc. used in this article do not specifically refer to the order or sequence, nor are they used to limit the present case. They are only used to distinguish components or operations described with the same technical terms.

[0079] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

[0080] The technical solution of the present utility model will be described below in conjunction with the accompanying drawings.

[0081] like Figures 1 to 20 As shown, the intelligent lawn mower of the utility model includes a support and an integrated sensor device. In this embodiment, the integrated sensor device is a laser radar 2, and the laser radar 2 is arranged on the support.

[0082] like Figures 1 to 20 As shown, the laser radar 2 is arranged on a support, and the intelligent lawn mower also includes a first heat dissipation device 3, which is connected to the laser radar 2 and is used to dissipate heat for the laser radar 2.

[0083] Among them, the first heat dissipation device 3 is connected to the laser radar 2 to transfer the heat generated by the laser radar 2 when it is in working state, so as to cool down the laser radar 2, thereby preventing the heat generated by the laser radar when working from affecting the detection accuracy of the laser radar.

[0084] Furthermore, the smart lawn mower also includes a mounting plate 11 arranged on the support member, the mounting plate 11 is connected to the first heat dissipation device 3, the mounting plate 11 has a sensor device mounting portion 111, the laser radar 2 is installed on the sensor device mounting portion 111, and the sensor device mounting portion 111 increases the mounting surface for the laser radar 2 to achieve the effect of positioning and installing the laser radar 2.

[0085] In this embodiment, because the laser radar 2 is arranged on the sensor device installation part 111, the laser radar 2 is connected to the first heat dissipation device 3 through the sensor device installation part 111.

[0086] like Figures 1 to 20 As shown, the first heat dissipation device 3 includes a first sensor device heat sink 31, which is connected to the mounting plate 11. The mounting plate 11 is also used for heat conduction to transfer the heat of the laser radar 2 to the first sensor device heat sink 31, thereby dissipating the heat of the laser radar 2 through the first sensor device heat sink 31.

[0087] Specifically, the heat generated by the laser radar 2 is transferred to the first sensor device heat sink 31 through the mounting plate 11 , and the first sensor device is used to dissipate the heat of the laser radar 2 .

[0088] Furthermore, the first sensor device heat sink 31 and the mounting plate 11 are integrally arranged. The integrally arranged first sensor device heat sink 31 and the mounting plate 11 are conducive to direct heat transfer, thereby improving the heat conduction effect; at the same time, the integrally arranged first sensor device heat sink 31 and the mounting plate 11 are also convenient for production and processing, which is conducive to improving assembly efficiency; at the same time, the overall strength of the first sensor device heat sink 31 and the mounting plate 11 is also strengthened, which is conducive to improving durability.

[0089] The first sensor device heat sink 31 and the mounting plate 11 are integrally formed aluminum castings, which can improve the heat dissipation effect and simplify the overall structure and assembly.

[0090] In this embodiment, the first sensor device heat sink 31 includes a plurality of first heat sinks 311, which are arranged at intervals. A heat dissipation gap is formed between the plurality of first heat sinks 311, thereby increasing the contact area with the air to improve the heat dissipation effect.

[0091] like Figures 17 to 20 As shown, the first heat dissipation device 3 also includes a third sensor device heat sink 32, which is installed on the mounting plate 11; the third sensor device heat sink 32 is connected to the laser radar 2, and the third sensor device heat sink 32 is used to dissipate heat for the laser radar 2.

[0092] Specifically, the third sensor device heat sink 32 is connected to the laser radar 2 and the sensor device mounting part 111, thereby transferring the heat generated by the laser radar 2 to the sensor device mounting part 111. At the same time, the third sensor device heat sink 32 itself also has the functions of heat conduction and heat dissipation, so as to cool down the laser radar 2.

[0093] Furthermore, the third sensor device heat sink 32 includes at least one of a graphene heat sink 321 and a heat dissipation copper tube 322 .

[0094] like Fig.17 In the embodiment shown, the heat sink 32 of the third sensor device is a graphene heat sink 321, so that the heat generated by the laser radar 2 can be transferred and dissipated through the graphene heat sink 321, wherein Fig.14 It is a simplified schematic diagram of the installation structure of the housing 1, the laser radar 2, the installation plate 11 and the heat sink 32 of the third sensor device.

[0095] like Fig.18 and Fig.19 In the embodiment shown, the heat sink 32 of the third sensor device is a heat dissipation copper tube 322, so as to transfer and dissipate the heat generated by the laser radar 2 through the heat dissipation copper tube 322, wherein Fig.15 and Fig.16It is a simplified schematic diagram of the installation structure of the housing 1, the laser radar 2, the installation plate 11 and the heat sink 32 of the third sensor device.

[0096] like Fig. 20 In the embodiment shown, the heat sink 32 of the third sensor device is a combination of a graphene heat sink 321 and a heat dissipation copper tube 322, so as to achieve the effect of heat conduction and heat dissipation by using the graphene heat sink 321 and the heat dissipation copper tube 322, wherein Fig.17 It is a simplified schematic diagram of the installation structure of the housing 1, the laser radar 2, the installation plate 11 and the heat sink 32 of the third sensor device.

[0097] It should be noted that the heat sink 32 of the third sensor device and the laser radar 2 can transfer heat directly or indirectly through the mounting plate 11.

[0098] like Figures 16 to 20 As shown, the intelligent lawn mower also includes a second heat dissipation device 8, which is arranged beside the laser radar 2, and is used for air cooling and heat dissipation of the laser radar 2.

[0099] in, Figures 13 to 17 It is a brief schematic diagram of the installation structure of the housing 1, the laser radar 2, the mounting plate 11, the second heat sink 8 and the third sensor device heat sink 32.

[0100] Specifically, the second heat dissipation device 8 uses air cooling to cool the laser radar 2. The second heat dissipation device 8 can be a fan, which provides a heat dissipation air source for the laser radar 2.

[0101] For further information, see Figures 18 to 20 In order to further improve the heat dissipation efficiency, an auxiliary heat sink 9 can be arranged beside the mounting plate 11, and the auxiliary heat sink 9 can be connected to the first heat dissipation sensor device heat sink through the third sensor device heat sink 32 to further improve the heat dissipation effect.

[0102] The auxiliary heat sink 9 is installed on the support member, and the auxiliary heat sink 9 is provided with heat sink fins to enhance the heat dissipation effect through the heat sink fins.

[0103] In this embodiment, if Fig.17 As shown, the third sensor device heat sink 32 may be arranged on a side close to the second heat sink 8. Preferably, the third sensor device heat sink 32 is a graphene heat sink 321. It may also be as shown in FIG. Fig.18 and Fig.19 As shown, the third sensor device heat sink 32 is arranged on a side away from the second heat sink 8. Preferably, the third sensor device heat sink 32 is a heat sink copper tube 322; it can also be as follows Fig. 20 As shown, it is arranged on both the side close to the second heat dissipation device 8 and the side far away from the second heat dissipation device 8 .

[0104] like Figure 12 to Figure 14 As shown, the intelligent lawn mower also includes a sensor device heat conductor 6, which is respectively connected to the laser radar 2 and the first heat dissipation device 3, and the sensor device heat conductor 6 is used to conduct the heat of the laser radar 2 to the first heat dissipation device 3.

[0105] Specifically, the heat conductor 6 of the sensor device is respectively in contact with the laser radar 2 and the mounting plate 11, thereby conducting the heat generated by the laser radar 2 to the mounting plate 11, and the heat of the mounting plate 11 is conducted to the first heat dissipation device 3, and the heat is dissipated through the multiple first heat sinks 311 of the first heat dissipation device 3.

[0106] It should be noted that the heat conductor 6 of the sensor device and the first heat sink 3 can be indirectly connected through the mounting plate 11 , and the heat of the laser radar 2 is transferred to the first heat sink 3 through the heat conductor 6 of the sensor device and the mounting plate 11 .

[0107] The heat-conducting component 6 of the sensor device is a heat-conducting silicone column or a heat-conducting silicone pad.

[0108] In this embodiment, in order to improve the installation stability of the sensor device heat conductor 6, a sensor device shock absorber 7 can be arranged between the laser radar 2 and the mounting plate 11. The sensor device shock absorber 7 is provided with a mounting hole 71 matching the sensor device heat conductor 6. The mounting hole 71 passes through the sensor device shock absorber 7, and the sensor device heat conductor 6 is arranged in the mounting hole 71.

[0109] like Figures 1 to 10 As shown, the housing 1 in this embodiment includes a front cover and a rear cover that are relatively arranged, a first side cover and a second side cover that are relatively arranged, and a top cover connected to the rear cover, the first side cover and the second side cover. The front cover is connected to the top cover through a mounting plate 11. The front cover, the mounting plate 11, the rear cover, the first side cover, the second side cover, and the top cover form a closed cavity, and the laser radar 2 is arranged outside the closed cavity.

[0110] like Figures 1 to 6 As shown, the smart lawn mower also includes a cover plate 4, which is covered on the support member, and a sensor device accommodating space is formed between the cover plate 4 and the support member. The laser radar 2 is at least partially accommodated in the sensor device accommodating space, and a through opening 41 is provided on the cover plate 4, and at least a portion of the laser radar 2 extends outward from the through opening 41.

[0111] Specifically, a portion of the laser radar 2 is accommodated in the sensor device accommodating space, and another portion extends out from the through-hole 41 , and the extended portion emits laser to the environment to achieve environmental sensing detection.

[0112] For further information, see Figures 1 to 9There is at least one second heat dissipation port 42 between the cover plate 4 and the support member, and the second heat dissipation port 42 can connect the sensor device accommodating space and the external space to discharge the heat of the laser radar 2.

[0113] Furthermore, the second heat dissipation opening 42 is a long strip hole structure to facilitate ventilation and heat dissipation when the intelligent lawn mower is in working state. The second heat dissipation opening 42 can be arranged on the front side of the support member to improve the heat dissipation effect.

[0114] like Figure 7 and Fig.15 As shown, at least one third heat dissipation port 101 is provided on the support member, and the third heat dissipation port 101 can connect the sensor device accommodating space and the external space to discharge the heat of the laser radar 2. The third heat dissipation port 101 is provided at the bottom of the support member, and heat dissipation is achieved by providing the third heat dissipation port 101 at the bottom of the support member. One of the third heat dissipation ports 101 is used to install the first heat dissipation device 3, and the other third heat dissipation ports 101 are provided beside the laser radar 2 and connected to the sensor device accommodating space, so as to achieve the function of the third heat dissipation port 101 to assist in heat dissipation of the laser radar 2.

[0115] In this example, see Fig.10 and Fig.18 , the first heat sink 3 at least partially extends from the third heat dissipation opening 101 to the external space. It should be noted that a plurality of first heat sinks 311 are provided, wherein a portion of the first heat sinks 311 is located in the sensor device accommodation space, and another portion of the first heat sinks 311 penetrates the third heat dissipation opening 101 and extends out of the sensor device accommodation space, thereby improving the heat dissipation efficiency by contacting the first heat sink 311 extending out of the sensor device accommodation space with the air.

[0116] It should be noted that in this embodiment Fig.12 It is a schematic diagram of the structure of the cover plate 4, the housing 1, the first sensor device heat sink 31 of the first heat sink 3 and the third heat dissipation port 101.

[0117] like Figures 1 to 6 As shown, the smart lawn mower also includes an annular sleeve 5, which is fixedly connected to the cover plate 4 at the through opening 41. The annular sleeve 5 is provided with a sensor device extension opening 51 matching the laser radar 2, and the laser radar 2 at least partially extends outward from the sensor device extension opening 51.

[0118] Furthermore, the annular sleeve 5 is arranged at the through opening 41 and abuts against the outer peripheral surface of the laser radar 2. The annular sleeve 5 has at least one first heat dissipation opening 52, which can connect the sensor device accommodating space and the external space to discharge the heat of the laser radar 2. The first heat dissipation opening 52 is arranged along the circumference of the annular sleeve 5. The annular sleeve 5 can not only dissipate heat for the laser radar 2, but also play a protective and decorative role.

[0119] Furthermore, the first heat dissipation opening 52 is at least one of a notch structure and a heat dissipation hole. In this way, the structure of the first heat dissipation opening can be adjusted according to the overall layout of the intelligent lawn mower to maximize the heat dissipation efficiency.

[0120] In some embodiments, the first heat dissipation opening 52 may be a notch structure, and the notch structure may be Figure 6 The illustrated arrangement is on the outer circumference of the annular sleeve 5 , and may also be on the inner circumference of the annular sleeve 5 .

[0121] In some other embodiments, the first heat dissipation opening 52 may be a heat dissipation hole penetratingly provided on one or more annular sleeves 5 .

[0122] In some other embodiments, the first heat dissipation opening 52 may be a combination of a notch structure and a heat dissipation hole.

[0123] It should be noted that the specific shape and number of the notch structure and the heat dissipation holes on the annular sleeve 5 depend on the actual heat dissipation requirements and design space, and the present application does not limit the specific shape and number of the notch structure and the heat dissipation holes.

[0124] In particular, when the lawn mower moves, it will drive the surrounding air to flow, and the air flow can flow into the interior of the first heat dissipation port 52 to accelerate the heat dissipation and improve the heat dissipation effect.

[0125] More particularly, the annular sleeve and the laser radar are both arranged at the front end area of ​​the top of the casing of the smart lawn mower, so that the wind energy brought by the movement of the lawn mower can better take away the heat in the sensor device accommodating space through the first heat dissipation port.

[0126] Similarly, preferably, the second heat dissipation port 42 is arranged at the front end area of ​​the top of the smart lawn mower, so that when the smart lawn mower is moving, the airflow can flow into the second heat dissipation port 42 formed between the cover plate 4 and the support member to improve the heat dissipation efficiency. Specifically, when the airflow passes through, the heat of the laser radar 2 is taken away for heat dissipation.

[0127] like Figure 13 to Figure 14 As shown, the laser radar 2 includes a radar body and a second sensor device heat sink 22. The radar body and the second sensor device heat sink 22 are fixedly connected, and the second sensor device heat sink 22 is used to dissipate heat for the radar body.

[0128] Specifically, the second sensor device heat sink 22 is arranged on the peripheral side of the laser radar 2 , and the second sensor device heat sink 22 is directly connected to the radar body and is used to dissipate heat for the laser radar 2 .

[0129] Among them, the second sensor device heat sink 22 serves as the heat dissipation structure of the laser radar 2 itself. The second sensor device heat sink 22 includes a plurality of second heat sinks 221, and the plurality of second heat sinks 221 are arranged at intervals. The design of the second heat sinks 221 can dissipate the heat generated by the laser radar 2.

[0130] In this embodiment, the included angle between the first plane where the first sensor device heat sink 31 is located and the second plane where the second sensor device heat sink 22 is located is ∠C. Fig.13 As shown, ∠C satisfies greater than 90° and less than or equal to 180°. The first plane and the second plane are arranged at an obtuse angle so that there is a preset distance between the first sensor device heat sink 31 and the second sensor device heat sink 22, which is beneficial to the heat dissipation efficiency of the first sensor device heat sink 31 and the second sensor device heat sink 22. The first plane and the second plane are arranged at an obtuse angle to form an avoidance space to facilitate the installation of the laser radar 2.

[0131] Furthermore, in order to better dissipate heat for the laser radar 2, the heat dissipation structure of the intelligent lawn mower includes a heat sink and a sensor device heat conductor 6, and a plurality of heat sinks are provided, a part of the plurality of heat sinks is a second heat sink 221, and the second heat sink 221 is provided below the radar body, and another part of the plurality of heat sinks is a first heat sink 311, and the first heat sink 311 is connected to the mounting plate 11. Through the design of the first heat sink 311 and the sensor device heat conductor 6, the heat generated between the laser radar 2 and the mounting plate 11 can be dissipated.

[0132] In this embodiment, the intelligent lawn mower further includes a housing 1, and the support member is the housing 1. It should be noted that the support member may also be a mounting structure provided on the housing 1, and the laser radar 2 is mounted on the housing 1 through the mounting structure. It is further explained that the laser radar 2 may be directly mounted on the housing 1, or may be mounted on the housing 1 through a supporting member having a supporting function.

[0133] In this embodiment, the laser radar 2 emits a laser beam to the target, and then compares the received signal reflected from the target with the transmitted signal. After appropriate processing, relevant information of the target, such as target distance, direction, height and other parameters, can be obtained, thereby detecting, tracking and identifying the target. During the operation of the lawn mower, it is necessary to accurately detect the terrain in front of the machine to prevent the lawn mower from causing damage or harm to the surrounding environment. In this embodiment, by tilting a laser radar 2 at the front of the casing 1, the angle of the laser beam emitted by the laser radar 2 can be changed, the perception range of the environment in front of the lawn mower machine is increased, the detection blind area is reduced, and the terrain can be detected and mapped in real time, thereby avoiding obstacles and performing precise operations.

[0134] In this embodiment, the laser radar 2 integrates at least two of the navigation and obstacle avoidance functions of the intelligent lawn mower. Specifically, the intelligent lawn mower of the utility model has navigation and obstacle avoidance functions, which is conducive to realizing the automation of the intelligent lawn mower. The intelligent lawn mower integrating multiple functions significantly improves the degree of automation, which is conducive to improving work efficiency, reducing manual participation, and improving user experience during actual use.

[0135] Furthermore, the laser radar 2 integrates the navigation and obstacle avoidance functions of the smart lawn mower. Among them, the laser radar 2 with the navigation function is conducive to the path planning and guidance of the smart lawn mower during its operation, so as to control the direction of travel of the smart lawn mower through the navigation function and improve the efficiency of the smart lawn mower; at the same time, the laser radar 2 with the obstacle avoidance function is conducive to avoiding the collision between the smart lawn mower and obstacles during the operation of the smart lawn mower, which is conducive to enhancing the safety of the use of the smart lawn mower.

[0136] In this embodiment, only one laser radar 2 is provided to integrate the navigation and obstacle avoidance functions of the smart lawn mower. The navigation and obstacle avoidance of the smart lawn mower are realized by only one laser radar 2. The functional integration of the laser radar 2 is improved, the hardware structure is simplified, and the problem of complex control system caused by using multiple external sensors in the prior art is overcome. This application only uses one laser radar 2 to save costs and improve the product experience.

[0137] In more embodiments, the laser radar 2 can integrate the navigation function of the smart lawn mower while also integrating the positioning function.

[0138] Among them, the laser radar 2 also integrates a weather detection function to detect weather through the laser radar 2; that is, the laser radar 2 is used for navigation, obstacle avoidance and weather detection of the smart lawn mower. The smart lawn mower can not only realize navigation and obstacle avoidance, but also includes the function of weather detection to realize adaptive adjustment of the working state by detecting weather conditions, which is conducive to improving the safety of the use of the smart lawn mower and the efficiency of work.

[0139] Exemplarily, weather detection may include rain detection, hail detection, snow detection, sandstorm detection, fog detection, etc.

[0140] In this embodiment, only one laser radar 2 is provided to integrate the navigation, obstacle avoidance and weather detection functions of the intelligent lawn mower.

[0141] Specifically, only one laser radar 2 is arranged on the casing 1 of the lawn mower. By setting up one laser radar 2, the functions of navigation, obstacle avoidance and weather detection are realized, the functional integration of the laser radar 2 is improved, the hardware structure is simplified, and the problem of complex control system caused by using multiple external sensors in the prior art is overcome. The present application only uses one laser radar 2 to save costs and improve the product experience.

[0142] Furthermore, the lawn mower can detect and map the terrain in real time by setting up a laser radar 2, so as to avoid obstacles and operate accurately, making the operation of the lawn mower more stable and safe. In addition, the present application sets a laser radar 2 with a field of view that can see the nearest points of the front end, left end and right end of the machine, thereby further improving the safety of the operation of the lawn mower.

[0143] It should be noted that the smart lawn mower of this embodiment does not include any other sensor for at least one of navigation, obstacle avoidance and weather detection. This application only needs to set up a laser radar 2 to realize the functions of navigation, obstacle avoidance and weather detection.

[0144] In some embodiments, the smart lawn mower does not include any other sensors for navigation.

[0145] In other embodiments, the smart lawn mower does not include any other sensors for obstacle avoidance.

[0146] In other embodiments, the smart lawn mower does not include any other sensors for weather detection.

[0147] In other embodiments, the smart lawn mower does not include any other sensors for navigation or obstacle avoidance.

[0148] In other embodiments, the smart lawn mower does not include any other sensors for navigation or weather detection.

[0149] In other embodiments, the smart lawn mower does not include any other sensors for obstacle avoidance or weather detection.

[0150] In other embodiments, the smart lawn mower does not include any other sensors for navigation, obstacle avoidance, and weather detection.

[0151] In this embodiment, the laser radar 2 can be positioned to protrude from the casing 1, so that navigation, obstacle avoidance and weather detection can be better performed. For example, it is convenient for the laser radar 2 to perform obstacle avoidance detection toward the front and surrounding sides of the casing 1, and it is also convenient for the laser radar 2 to detect the weather, such as rain detection.

[0152] In some specific embodiments, the laser radar 2 is disposed on the housing 1 .

[0153] Of course, in a specific implementation not shown in the figure, the laser radar 2 can also be placed in a transparent cover to protect the laser radar 2 through the transparent cover, and the setting of the transparent cover does not affect the laser radar 2 to perform obstacle avoidance detection, navigation and weather detection.

[0154] like Figures 1 to 10 As shown, the laser radar 2 is arranged at an angle at the front end area of ​​the top of the support.

[0155] The supporting member is a housing 1 , and the laser radar 2 is arranged at a front end area of ​​the top of the housing 1 at an angle to the horizontal plane.

[0156] Specifically, the laser radar 2 is arranged on the housing 1 at an angle relative to the horizontal plane, so that the front blind spot of the smart lawn mower can be minimized. It should be noted that the laser radar 2 is arranged at the front area of ​​the top of the housing 1 to realize environmental monitoring of the area in the forward direction of the smart lawn mower.

[0157] Furthermore, if Figure 8 As shown, the inclination angle α between the installation plane of the laser radar 2 in this embodiment and the horizontal plane ranges from 10° to 60°.

[0158] Preferably, the inclination angle α between the installation plane of the laser radar 2 and the horizontal plane is 15°, preferably, the inclination angle α between the installation plane of the laser radar 2 and the horizontal plane is in the range of 18°, preferably, the inclination angle α between the installation plane of the laser radar 2 and the horizontal plane is in the range of 28°. The range of the inclination angle α between the installation plane of the laser radar 2 and the horizontal plane is not limited to the listed values, and other values ​​not listed in the numerical range are also applicable.

[0159] It should be noted that the mounting plate 11 may be a convex slope or a concave slope or an anisotropic slope or an inclined plane, etc. Since the laser radar 2 is fixedly mounted on the mounting plate 11, the laser radar 2 is also tilted. When the tilt angle α between the mounting plane of the laser radar 2 and the horizontal plane is too small, the distance between the detection range of the laser radar 2 and the edge of the fuselage is large, and the blind spot formed is also large; when the tilt angle α between the mounting plane of the laser radar 2 and the horizontal plane is too large, the laser radar 2 cannot detect the side and rear of the lawn mower, which is not conducive to obstacle avoidance.

[0160] Further, when the remaining parameters are determined, when the inclination angle α between the installation plane of the laser radar 2 in this embodiment and the horizontal plane is 20°, it is convenient to control the distance between the detection area of ​​the radar body 21 and the edge of the machine within a range of less than or equal to 0.2m. When the inclination angle α between the sensor device installation part 111 and the horizontal plane in this embodiment is 20°, the influence of the housing 1 on the detection area of ​​the radar body 21 is effectively reduced, the detection range of the radar body 21 is larger, and the blind spot of the edge of the fuselage is greatly reduced, thereby improving the detection efficiency of the intelligent lawn mower, which is conducive to improving the accuracy of navigation and obstacle avoidance of the intelligent lawn mower.

[0161] In this embodiment, the front end area of ​​the top of the casing 1 has a groove structure, and the groove structure has a support surface extending downward along the slope toward the front side of the casing 1. The smart lawn mower also includes a mounting plate 11, and the mounting plate 11 is installed in the front end area of ​​the top of the casing 1. Along the travel direction of the smart lawn mower, the rear end of the mounting plate 11 is higher than the front end of the mounting plate 11. The laser radar 2 is installed on the mounting plate 11, and the support surface is connected to the mounting plate 11.

[0162] Furthermore, the smart lawn mower further includes a shock-absorbing pad, which is arranged between the laser radar 2 and the mounting plate 11. The shock-absorbing pad is mounted on the mounting plate 11 by means of fasteners such as screws and bolts. The shock-absorbing pad is used to buffer the vibration force of the laser radar 2 to achieve the function of reducing noise. The shock-absorbing pad has the functions of protecting the laser radar 2 and reducing noise, and effectively improves the stability of the installation of the laser radar 2.

[0163] Among them, the front end area of ​​the top of the casing 1 provides a groove structure for installing the laser radar 2, and the groove structure improves the supporting surface that cooperates with the mounting plate 11 to position the laser radar 2 by positioning the mounting plate 11.

[0164] Furthermore, the interior of the groove structure has a first mounting portion, and the housing 1 has a second mounting portion. In a specific implementation of the present embodiment, the mounting plate 11 is snap-connected with the first mounting portion and the second mounting portion to perform positioning and installation by snap-connection. Specifically, the first mounting portion and the second mounting portion can be one of a buckle and a slot, and the mounting plate 11 is provided with the other of the buckle and the slot at a positioning position.

[0165] In another specific implementation of this embodiment, the intelligent lawn mower further includes a fastener, and the mounting plate 11 is connected to the second mounting portion and the second mounting portion through the fastener, and the mounting plate 11 is fixed by the fastener such as a screw.

[0166] In this embodiment, the first mounting portion is arranged on the bottom surface of the groove, and the mounting plate 11 has a first plate section, an inclined plate section and a second plate section connected in sequence. The first plate section abuts against the bottom surface of the groove and is connected to the first mounting portion, the inclined plate section abuts against the supporting surface, and the second plate section abuts against the casing 1 and is connected to the second mounting portion.

[0167] The three-section structure of the mounting plate 11 is respectively fixed to the bottom surface of the groove, the support surface and the top surface of the housing 1 , which further improves the installation stability of the mounting plate 11 .

[0168] It should be noted that the top of the housing 1 of this embodiment has a front end area and a rear end area, wherein the front end area and the rear end area are relatively arranged along the moving direction of the smart lawn mower, and the front end area is the area on the side of the forward direction when the smart lawn mower is in working state.

[0169] like Figures 1 to 10 As shown, the center of the laser radar 2 in this embodiment is located on the midline of the width direction of the support. It can be understood that since the support of the lawn mower is designed symmetrically along the width direction, the laser radar 2 is arranged on the midline of the support along the width direction, and the support is the housing 1, so that the laser radar 2 is arranged on the midline of the housing 1 along the width direction, which is conducive to accurately detecting the left and right ends of the front of the machine, and can also facilitate obstacle avoidance in the lawn mower.

[0170] In a specific embodiment not shown in the figure, the center of the laser radar 2 is located beside the center line of the width direction of the casing 1, and the technical effect of detecting the terrain and avoiding obstacles can also be achieved by using the tilted laser radar 2.

[0171] like Figure 8 As shown, in order to reduce the blind area, the laser radar 2 in this embodiment includes a radar body 21, and the horizontal distance L between the laser emitting part of the radar body 21 and the front end of the housing 1 is greater than or equal to 30 mm.

[0172] It should be noted that the closer the laser emitting part of the radar body 21 is to the front end of the casing 1, the larger the blind area of ​​the machine will be. Therefore, the horizontal distance L between the laser emitting part of the radar body 21 and the front end of the casing 1 needs to be controlled within a range greater than 30 mm.

[0173] Preferably, the horizontal distance L between the laser emitting part of the radar body 21 and the front end of the housing 1 is 35 mm, preferably, the horizontal distance L between the laser emitting part of the radar body 21 and the front end of the housing 1 is 38 mm, preferably, the horizontal distance L between the laser emitting part of the radar body 21 and the front end of the housing 1 is 40 mm. The horizontal distance L between the laser emitting part of the radar body 21 and the front end of the housing 1 is not limited to the listed values, and other values ​​not listed within the numerical range are also applicable.

[0174] Further, when the other parameters are determined, when the horizontal distance L between the radar body 21 and the front end of the housing 1 is set within the range of 40mm-180mm, it is convenient to control the distance between the detection area of ​​the radar body 21 and the edge of the machine within a range of less than or equal to 0.2m. When the horizontal distance L between the radar body 21 and the front end of the housing 1 is set within the range of 40mm-180mm, the impact of the housing 1 on the detection area of ​​the radar body 21 is effectively reduced, the detection range of the radar body 21 is larger, and the blind spot of the edge of the fuselage is greatly reduced, thereby improving the detection efficiency of the intelligent lawn mower, which is conducive to improving the accuracy of navigation and obstacle avoidance of the intelligent lawn mower.

[0175] like Fig. 9 As shown, since the width of the lawn mower body will affect the detection range of the laser radar 2, when the distance W between the front end of the first side cover and the front end of the second side cover along the width direction of the casing 1 is less than or equal to 600 mm, it can prevent the laser radar 2 arranged on the mounting plate 11 from failing to detect the environment and terrain on both sides of the body.

[0176] In this embodiment, Figure 2 As shown, the horizontal field of view A of the laser radar 2 is 360°. Figure 8 As shown, the vertical field of view angle is greater than or equal to 30°.

[0177] Preferably, the vertical field of view angle of the laser radar 2 is 40°, preferably, the vertical field of view angle of the laser radar 2 is 50°, preferably, the vertical field of view angle of the laser radar 2 is 59°. The vertical field of view angle of the laser radar 2 is not limited to the listed values, and other values ​​not listed within the numerical range are also applicable.

[0178] It should be noted that the larger the vertical field of view angle, the larger the detectable range of the laser radar 2, the smaller the distance between the detectable area of ​​the laser radar 2 and the edge of the machine, and the smaller the blind spot. When using a laser radar 2 with a vertical field of view angle greater than or equal to 30° and determining the installation position on the lawn mower by the aforementioned parameters, the detection range can be increased while reducing the distance between the detection range of the laser radar 2 and its edge, thereby achieving the technical effect of reducing the blind spot.

[0179] It can be seen from the above technical solutions that the utility model has the following beneficial effects:

[0180] The intelligent lawn mower of the utility model comprises a first heat dissipation device 3 for cooling the laser radar 2, so as to achieve heat dissipation of the laser radar 2 and prevent the heat generated when the laser radar 2 is working from affecting the detection accuracy of the laser radar 2.

[0181] The intelligent lawn mower of the utility model is provided with only one laser radar 2 on the casing 1. By providing one laser radar 2, the functions of navigation, obstacle avoidance and weather detection are realized, the hardware structure is simplified, and the problem of complex control system caused by using multiple external sensors in the prior art is overcome. The present application only uses one laser radar 2 to save costs and improve the product experience.

[0182] The intelligent lawn mower of the utility model can detect and map the terrain in real time by setting a laser radar 2, so as to avoid obstacles and operate accurately, making the operation of the lawn mower more stable and safe. In addition, the field of view of the laser radar 2 of the present application can see the nearest points of the front end, left end and right end of the machine, thereby further improving the safety of the operation of the lawn mower.

[0183] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-restrictive from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present invention. Any reference numeral in a claim should not be regarded as limiting the claim to which it relates.

[0184] In addition, it should be understood that although the present specification is described according to embodiments, not every embodiment contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. An intelligent lawn mower, characterized in that: The intelligent lawn mower comprises: Supports; A laser radar is arranged on the support member; A first heat dissipation device is connected to the laser radar, and the first heat dissipation device is used to dissipate heat for the laser radar.

2. The intelligent lawn mower according to claim 1, characterized in that: The intelligent lawn mower also includes a mounting plate arranged on the support member, the mounting plate is connected to the first heat dissipation device, and the laser radar is installed on the mounting plate.

3. The intelligent lawn mower according to claim 2, characterized in that: The first heat sink comprises a first sensor device heat sink, and the first sensor device heat sink is connected to the mounting plate; The mounting plate is also used for heat conduction, so as to transfer the heat of the laser radar to the heat sink of the first sensor device, thereby dissipating the heat of the laser radar through the heat sink of the first sensor device.

4. The intelligent lawn mower according to claim 3, characterized in that: The first sensor device heat sink and the mounting plate are integrally arranged.

5. The intelligent lawn mower according to claim 3, characterized in that: The first sensor device heat sink includes a plurality of first heat sinks, and the plurality of first heat sinks are arranged at intervals.

6. The intelligent lawn mower according to claim 2, characterized in that: The first heat sink comprises a third sensor device heat sink, and the third sensor device heat sink is mounted on the mounting plate; The third sensor device heat sink is connected to the laser radar, and the third sensor device heat sink is used to dissipate heat for the laser radar.

7. The intelligent lawn mower according to claim 6, characterized in that: The third sensor device heat sink includes at least one of a graphene heat sink and a heat dissipation copper tube.

8. The intelligent lawn mower according to claim 1, characterized in that: The intelligent lawn mower further comprises a sensor device heat conductor, wherein the sensor device heat conductor is respectively connected to the laser radar and the first heat dissipation device; The heat conductor of the sensor device is used to conduct the heat of the laser radar to the first heat dissipation device.

9. The intelligent lawn mower according to claim 1, characterized in that: The intelligent lawn mower further includes a cover plate, the cover plate is disposed on the support member, a sensor device accommodating space is formed between the cover plate and the support member, and the laser radar is at least partially accommodated in the sensor device accommodating space; The cover plate has a through opening, and the laser radar at least partially protrudes outward from the through opening.

10. The intelligent lawn mower according to claim 9, characterized in that: The intelligent lawn mower further comprises an annular sleeve, wherein the annular sleeve is connected to the cover plate at the through opening; The annular sleeve is provided with a sensor device extension port matching the laser radar, and the laser radar at least partially extends outward from the sensor device extension port.

11. The intelligent lawn mower according to claim 1, characterized in that: The intelligent lawn mower also includes an annular sleeve, on which is provided a sensor device extension port matching the laser radar, and the laser radar at least partially extends outward from the sensor device extension port.

12. The intelligent lawn mower according to claim 10, characterized in that: The first heat dissipation device is at least partially accommodated in the sensor device accommodating space, and the annular sleeve is provided with at least one first heat dissipation port, which can connect the sensor device accommodating space and the external space to discharge the heat of the laser radar.

13. The intelligent lawn mower according to claim 12, characterized in that: The first heat dissipation opening is at least one of a notch structure and a heat dissipation hole.

14. The intelligent lawn mower according to claim 9, characterized in that: The first heat dissipation device is at least partially accommodated in the sensor device accommodating space, and at least one second heat dissipation port is provided between the cover plate and the support member, and the second heat dissipation port can connect the sensor device accommodating space and the external space to discharge the heat of the laser radar.

15. The intelligent lawn mower according to claim 9, characterized in that: The first heat dissipation device is at least partially accommodated in the sensor device accommodating space, and at least one third heat dissipation port is provided on the support member, and the third heat dissipation port can connect the sensor device accommodating space and the external space to discharge the heat of the laser radar.

16. The intelligent lawn mower according to claim 15, characterized in that: At least a portion of the first heat dissipation device extends from the third heat dissipation opening to the external space.

17. The intelligent lawn mower according to any one of claims 1 to 16, characterized in that: The intelligent lawn mower also includes a second heat dissipation device, which is arranged beside the laser radar.

18. The intelligent lawn mower according to claim 17, characterized in that: The second heat dissipation device is used to perform air cooling on the laser radar.

19. The intelligent lawn mower according to any one of claims 1 to 16, characterized in that: The laser radar includes a radar body and a second sensor device heat sink, the radar body and the second sensor device heat sink are fixedly connected, and the second sensor device heat sink is used to dissipate heat for the radar body.

20. The intelligent lawn mower according to claim 19, characterized in that: The second sensor device heat sink includes a plurality of second heat sinks, and the plurality of second heat sinks are arranged at intervals.

21. The intelligent lawn mower according to any one of claims 1 to 16, characterized in that: The intelligent lawn mower further comprises a casing, and the supporting member is the casing.

22. The intelligent lawn mower according to any one of claims 1 to 16, characterized in that: The laser radar integrates at least two of the navigation, obstacle avoidance and weather detection of the smart lawn mower.

23. The intelligent lawn mower according to claim 22, characterized in that: The laser radar integrates the navigation and obstacle avoidance functions of the smart lawn mower.

24. The intelligent lawn mower according to claim 23, characterized in that: The number of the laser radar integrated with the navigation and obstacle avoidance functions of the intelligent lawn mower is only one.

25. The intelligent lawn mower according to claim 23, characterized in that: The laser radar also integrates a weather detection function.

26. The intelligent lawn mower according to claim 25, characterized in that: The number of the laser radars that integrate the navigation, obstacle avoidance and weather detection functions of the smart lawn mower is only one.

27. The intelligent lawn mower according to claim 21, characterized in that: The center of the laser radar is located on the center line of the housing in the width direction.

28. The intelligent lawn mower according to claim 21, characterized in that: The laser radar is arranged at a front end area of ​​the top of the housing at an angle to the horizontal plane.

29. The intelligent lawn mower according to any one of claims 1 or 8-16, characterized in that: The smart lawn mower further comprises a mounting plate disposed on the support member, the mounting plate having a sensor device mounting portion, the laser radar being mounted on the sensor device mounting portion, and along the direction of travel of the smart lawn mower, the rear end of the sensor device mounting portion is higher than the front end of the sensor device mounting portion, so that along the direction of travel of the smart lawn mower, the rear end of the laser radar is higher than the front end of the laser radar; The intelligent lawn mower further comprises a casing, and the supporting member is the casing.

30. The intelligent lawn mower according to any one of claims 2 to 7, characterized in that: The mounting plate is provided with a sensor mounting portion, the laser radar is mounted on the sensor mounting portion, and along the moving direction of the intelligent lawn mower, the rear end of the sensor mounting portion is higher than the front end of the sensor mounting portion, so that along the moving direction of the intelligent lawn mower, the rear end of the laser radar is higher than the front end of the laser radar; The intelligent lawn mower further comprises a casing, and the supporting member is the casing.

31. The intelligent lawn mower according to any one of claims 8 to 16, characterized in that: The intelligent lawn mower further comprises a mounting plate arranged on the support member, wherein the mounting plate is provided with a sensor device mounting portion, and an angle between the sensor device mounting portion and a horizontal plane is 10-60°.

32. The intelligent lawn mower according to any one of claims 2 to 7, characterized in that: The mounting plate is provided with a sensor mounting portion, and the angle between the sensor mounting portion and the horizontal plane is 10-60°.

33. The intelligent lawn mower according to any one of claims 8 to 16, characterized in that: The intelligent lawn mower further comprises a mounting plate arranged on the support member, wherein the mounting plate is provided with a sensor device mounting portion, and the angle between the sensor device mounting portion and the horizontal plane is 15-30°.

34. The intelligent lawn mower according to any one of claims 2 to 7, characterized in that: The mounting plate is provided with a sensor mounting portion, and the angle between the sensor mounting portion and the horizontal plane is 15-30°.

35. The intelligent lawn mower according to any one of claims 1-16, characterized in that: The horizontal field of view of the laser radar is 360°, and the vertical field of view is greater than or equal to 30°.

36. The intelligent lawn mower according to claim 21, characterized in that: The laser radar includes a radar body, and a horizontal distance between a laser emitting part of the radar body and a front end of the casing is greater than or equal to 30 mm.

37. The intelligent lawn mower according to claim 36, characterized in that: The horizontal distance between the laser emitting part of the radar body and the front end of the housing is 40mm-180mm.

38. The intelligent lawn mower according to claim 21, characterized in that: Along the width direction of the housing, the housing has a first end side and a second end side that are oppositely arranged, and a distance between a front end of the first end side and a front end of the second end side is less than or equal to 600 mm.

39. The intelligent lawn mower according to claim 19, characterized in that: An angle between a first plane where the first sensor device heat sink of the first heat sink is located and a second plane where the second sensor device heat sink is located is greater than 90° and less than or equal to 180°.

Images