Intelligent mower

Abstract

The utility model discloses an intelligent mowing machine, the intelligent mowing machine comprises a support member, a laser radar and a sensing device damping member, the laser radar is at least partially arranged above the support member, the sensing device damping member is respectively connected with the laser radar and the support member, and the sensing device damping member is used for damping the laser radar. According to the lawn mower, the sensing device damping piece is arranged between the supporting piece and the laser radar, so that damping of the laser radar is achieved, the problem of poor detection precision caused by vibration in the using process of the laser radar is solved, and meanwhile the problems of whole machine vibration and noise caused by the laser radar can be solved.

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 body and sensor device of the smart lawn mower will inevitably vibrate during operation, and the vibration will affect the accuracy of the sensor device.

[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.

[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 member; a laser radar, at least partly disposed above the support member; and a sensor device shock absorber, which is respectively connected to the laser radar and the support member, and is used to reduce the vibration of the laser radar. The smart lawn mower of the utility model achieves the effect of reducing the vibration of the laser radar by disposing the sensor device shock absorber between the support member and the laser radar, so as to avoid the problem of poor detection accuracy of the laser radar due to vibration during use, and also avoids the problem of vibration and noise of the whole machine caused by the laser radar.

[0011] Furthermore, the sensor device shock absorber is arranged between the laser radar and the support member, so that the vibration generated by the working state of the laser radar is directly transmitted to the sensor device shock absorber. The sensor device shock absorber is used to shock the laser radar, so the vibration generated during the working process of the laser radar will be transmitted to the sensor device shock absorber, thereby achieving the effect of shock reduction; the sensor device shock absorber is connected to the support member, thereby realizing the installation and fixation of the sensor device shock absorber.

[0012] Furthermore, the sensor device shock-absorbing component includes a shock-absorbing pad or a shock-absorbing column.

[0013] Furthermore, the sensor device shock absorber includes a first shock absorber body; a first connecting member, which is arranged on the first shock absorber body, and the first shock absorber body is connected to the laser radar through the first connecting member; and a second connecting member, which is arranged on the first shock absorber body, and the first shock absorber body is connected to the support member through the second connecting member. The first shock absorber body is used for shock absorption, the first connecting member is used for connecting to the laser radar, and the second connecting member is used for connecting to the support member.

[0014] Furthermore, the first connecting member is a nut, a screw, a light hole connecting member or an adhesive member; and / or the second connecting member is a nut, a screw, a light hole connecting member or an adhesive member. The provision of the nut, the screw, the light hole connecting member or the adhesive member facilitates the connection between the first connecting member and the laser radar, and the connection between the second connecting member and the supporting member.

[0015] Furthermore, the first connecting member is a first insert, and the first connecting member is embedded in the first shock absorbing body; the first connecting member and the first shock absorbing body are integrally arranged. The first connecting member and the first shock absorbing body are integrally formed by a mold. The integral first connecting member and the shock absorbing body are conducive to improving the connection strength between the first connecting member and the shock absorbing body, thereby improving the stability of the installation of the shock absorbing member of the sensor device. In addition, the integral first connecting member and the shock absorbing body are also conducive to improving assembly efficiency.

[0016] Furthermore, the second connecting member is a second insert, and the second connecting member is embedded in the first shock absorbing body; the first connecting member, the second connecting member and the first shock absorbing body are integrally arranged. The second connecting member and the first shock absorbing body are integrally formed by a mold. The integral second connecting member and the first shock absorbing body are conducive to improving the connection strength between the second connecting member and the shock absorbing body, thereby improving the stability of the installation of the shock absorbing member of the sensor device. In addition, the integral second connecting member and the first shock absorbing body are also conducive to improving assembly efficiency.

[0017] Furthermore, the first shock-absorbing body is a shock-absorbing pad, and the laser radar achieves shock absorption through the shock-absorbing pad.

[0018] Furthermore, the thickness of the shock-absorbing pad is 5-7 mm. When the thickness of the shock-absorbing pad is less than 5 mm, the shock-absorbing effect is not obvious. When the thickness of the shock-absorbing pad is greater than 7 mm, the shock-absorbing pad has the problem of space limitation, inconvenience in installation and waste of materials.

[0019] Furthermore, the smart lawn mower includes a housing, and the shock-absorbing pad is a special-shaped shock-absorbing pad. Along the direction of travel of the smart lawn mower, the thickness of the rear end of the special-shaped shock-absorbing pad is greater than the thickness of the front end of the special-shaped shock-absorbing pad, 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. When the laser radar is installed, the special-shaped shock-absorbing pad with varying thickness is used to achieve that the rear end of the laser radar is higher than the front end of the laser radar, so that the laser radar maintains a preset installation position, so as to facilitate the laser radar to perform environmental detection, including navigation, obstacle avoidance and weather detection.

[0020] Furthermore, the first shock absorbing body has a contact surface for contacting and cooperating with the laser radar; at least two first inserts and second inserts are provided, and the first inserts and second inserts are alternately arranged in a direction parallel to the contact surface. The first inserts and second inserts are alternately arranged, so that the force of the laser radar and the force of the supporting member on the shock absorbing body are alternately arranged, so that the shock absorbing body is uniformly subjected to force, so as to improve the installation strength of the shock absorbing body, and thus ensure the shock absorbing efficiency of the laser radar and the overall installation stability.

[0021] Furthermore, the first shock-absorbing body is a shock-absorbing column. The shock-absorbing column can realize multi-point shock absorption of the laser radar, thereby realizing the shock absorption of the laser radar, so as to avoid the problem of poor detection accuracy caused by vibration during the use of the laser radar, and also avoid the problem of vibration and noise of the whole machine caused by the laser radar.

[0022] Furthermore, the shock absorbing column at least meets one of the following characteristics: the length of the shock absorbing column is 6-10 mm; the cross-sectional area of ​​the shock absorbing column is 25-80 mm 2When the length of the shock-absorbing column is less than 6 mm, the shock-absorbing effect is poor; when the length of the shock-absorbing column is greater than 10 mm, the laser radar has the problem of poor installation stability. If the cross-sectional area of ​​the shock-absorbing column is too small, the shock-absorbing effect is poor; if the cross-sectional area of ​​the shock-absorbing column is too large, it occupies a large space and wastes materials.

[0023] Furthermore, the first shock absorbing body is a silicone shock absorbing column or a rubber shock absorbing column, so that the first shock absorbing body has a good shock absorbing effect through the silicone shock absorbing column or the rubber shock absorbing column.

[0024] Furthermore, the first connecting member and the second connecting member are arranged at intervals along the axial direction of the shock-absorbing column, and the first connecting member and the second connecting member are respectively arranged at two ends of the axial direction of the shock-absorbing column. The first connecting member is connected to the laser radar, and the shock-absorbing column can realize the shock-absorbing laser radar, while the second connecting member is connected to the support member to realize the laser radar through the sensor device shock-absorbing member and the support member.

[0025] Furthermore, at least two shock-absorbing columns are provided, and at least two shock-absorbing columns are provided at intervals. The provision of multiple shock-absorbing columns can realize multi-point support for the laser radar, thereby avoiding concentrated stress and improving the stability of supporting the laser radar.

[0026] Furthermore, the smart lawn mower includes a housing, and along the direction of travel of the smart lawn mower, the length of the shock absorbing column at the rear end is greater than the length of the shock absorbing column at the front end, 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. By adjusting the heights of the different shock absorbing columns, a preset installation angle is provided for the installation of the laser radar, thereby improving the convenience of installation.

[0027] Furthermore, the second connecting member is a connecting plate, which is fixedly arranged on the peripheral side of the first shock absorbing body, and the first connecting member, the second connecting member and the first shock absorbing body are integrally arranged. The integrally formed first connecting member, the second connecting member and the first shock absorbing body are conducive to increasing the overall installation strength, and thus are conducive to improving the shock absorbing effect of the laser radar.

[0028] Furthermore, the connecting plate is a plastic connecting plate or a metal connecting plate. The connecting plate is a structural member with strength to achieve a hard connection between the connecting plate and the supporting member.

[0029] Furthermore, the second connecting member is an annular connecting plate, and the first shock absorbing body is arranged on the inner peripheral side of the annular connecting plate. The annular connecting plate provides an installation position for the first shock absorbing body and is used to connect with the supporting member.

[0030] Furthermore, the sensor device shock absorber includes a second shock absorbing body; a third connecting member, the third connecting member and the second shock absorbing body are arranged on the same side of the laser radar, the third connecting member is fixedly connected to the laser radar, and the third connecting member and the laser radar are indirectly connected to the support member through the second shock absorbing body. The third connecting member is fixedly connected to the laser radar to form a connected whole, so that when the laser radar vibrates and moves, the laser radar can drive the third connecting member to move synchronously. By arranging the second shock absorbing body between the connected whole formed by the fixed connection between the third connecting member and the laser radar and the support member, the connection whole is limited, and the second shock absorbing body also has a shock filtering effect, so as to improve the stability and safety of the laser radar installation.

[0031] Furthermore, the support member is provided with a mounting through hole adapted to the second shock absorbing body, the second shock absorbing body is connected to the support member at the mounting through hole, and the second shock absorbing body is at least partially arranged in the mounting through hole; the third connecting member can pass through the mounting through hole and be fixedly connected to the laser radar. The mounting through hole is the mounting position of the second shock absorbing body, and the second shock absorbing body is installed at the mounting through hole, so that when the third connecting member vibrates and is displaced relative to the mounting through hole, the second shock absorbing body can buffer, thereby achieving the effect of reducing the vibration amount.

[0032] Furthermore, the first end of the second shock absorbing body extending toward the laser radar extends out of the mounting through hole, and the first end of the second shock absorbing body includes a first shock absorbing end, and the first shock absorbing end is arranged between the support and the laser radar. When the laser radar moves toward the support, the first shock absorbing end is used to prevent the laser radar from colliding with the support, and the arrangement of the first shock absorbing end is also conducive to achieving a shock absorbing effect on the laser radar.

[0033] Furthermore, the second end of the second shock absorbing body away from the laser radar extends out of the mounting through hole, and the second end of the second shock absorbing body includes a second shock absorbing end; a limiting end is provided at one end of the third connecting member away from the laser radar; and the second shock absorbing end is provided between the support member and the limiting end. The first shock absorbing end abuts against the laser radar, and the second shock absorbing end abuts against the limiting end of the third connecting member. By abutting the second shock absorbing body between the laser radar and the limiting end, when the entire connection formed by the laser radar and the third connecting member vibrates, the second shock absorbing body has the function of filtering vibrations, thereby achieving the effect of reducing the vibration amplitude.

[0034] Furthermore, the second shock absorbing body also includes a shock absorbing body section arranged between the first shock absorbing end and the second shock absorbing end, at least a portion of the shock absorbing body section passes through the mounting through hole and abuts against the inner wall surface of the mounting through hole, and the first shock absorbing end and the second shock absorbing end are circumferential flanges arranged at both ends of the shock absorbing body section, and the circumferential flanges protrude in the direction away from the mounting through hole. This embodiment adopts the structure that the first shock absorbing end and the second shock absorbing end are circumferential flanges at both ends of the shock absorbing body section, so that the two circumferential flanges can abut against the support member to achieve the effect of limiting the second shock absorbing body and the support member; the two circumferential flanges can increase the contact area between the second shock absorbing body and the end face of the support member facing and away from the laser radar, so as to improve the stability of the assembly; at the same time, the setting structure of the circumferential flange can increase the contact area between the second shock absorbing body and the laser radar, which is conducive to improving the shock absorbing effect.

[0035] Furthermore, the second shock absorbing body is connected to the support member in a limiting manner through the first shock absorbing end and the second shock absorbing end, which is beneficial to improving the shock absorbing effect.

[0036] Furthermore, a mounting chamfer is provided on the first shock absorbing end to facilitate the installation of the second shock absorbing body.

[0037] Further, the second shock-absorbing body is a shock-absorbing sleeve, and / or the third connecting member is a step fastener.

[0038] Furthermore, the intelligent lawn mower further includes a mounting plate disposed on the support, the sensor device shock absorber is at least partially disposed between the laser radar and the mounting plate, the sensor device shock absorber is indirectly connected to the support through the mounting plate, and the laser radar is connected to a side of the sensor device shock absorber away from the mounting plate. The mounting plate is used to support the sensor device shock absorber and the laser radar, so as to realize positioning and installation of the sensor device shock absorber and the laser radar.

[0039] Furthermore, the shock absorbing member of the sensor device is directly connected to the supporting member without requiring an intermediate structure, which is beneficial to reducing the use of parts, simplifying the installation steps and improving the installation efficiency.

[0040] Furthermore, the intelligent lawn mower includes a casing, the supporting member is the casing, and the sensor device shock-absorbing member is fixedly connected to the casing, which is beneficial to the stability of the connection between the sensor device shock-absorbing member and the casing.

[0041] Furthermore, the intelligent lawn mower further includes a sensor device heat conductor and a first heat sink, wherein the sensor device heat conductor 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 first heat sink is used to dissipate heat from the laser radar, and the sensor device heat conductor is used to transfer the heat of the laser radar to the mounting plate, and then from the mounting plate to the first heat sink.

[0042] Furthermore, the first shock absorbing body is provided with a mounting hole matching the heat conductive part of the sensor device, the mounting hole runs through the first shock absorbing body, and the heat conductive part of the sensor device is arranged in the mounting hole. By placing the heat conductive part of the sensor device at the mounting hole of the shock absorbing body, the heat is transferred from the laser radar to the mounting plate, and the mounting plate transfers the heat to the first heat dissipation device to achieve heat dissipation, so as to achieve the effect of cooling the laser radar.

[0043] 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.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] Furthermore, the number of laser radars integrated with the navigation, obstacle avoidance and weather detection 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. By providing one laser radar to realize the functions of navigation, obstacle avoidance and weather detection, the hardware structure is simplified, and the problem of complex control system caused by using multiple external sensors in the prior art is also overcome. The present application only uses one laser radar to save costs and improve the product experience.

[0048] Furthermore, the smart lawn mower includes a housing, and a laser radar is arranged at an angle to a horizontal plane at a front end area of ​​a top of the housing. The laser radar is arranged on the housing at an angle relative to a horizontal plane, so that a front end blind spot 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.

[0049] Furthermore, the mounting plate has a sensor device mounting portion; along the traveling direction 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 traveling direction of the smart lawn mower, the rear end of the laser radar is higher than the front end of the laser radar, so as to form a sensor device mounting portion inclined relative to the horizontal plane along the traveling direction of the smart lawn mower, thereby achieving an inclined state when the laser radar is installed on the sensor device 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.

[0050] 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.

[0051] The utility model has the following beneficial effects:

[0052] The intelligent lawn mower of the utility model achieves shock absorption of the laser radar by arranging a sensor device shock absorber between the support and the laser radar, thereby avoiding the problem of poor detection accuracy due to vibration of the laser radar during use, and also avoiding the vibration and noise of the whole machine caused by the laser radar.

[0053] The smart lawn mower of the utility model is only equipped with one laser radar on its casing. 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.

[0054] The 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

[0055] 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.

[0056] 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;

[0057] Figure 2 A top view of an intelligent lawn mower in a specific embodiment of the utility model;

[0058] Figure 3 It is a front view of an intelligent lawn mower in a specific embodiment of the utility model;

[0059] Figure 4 It is a side view structural diagram of the intelligent lawn mower without a cover plate in a specific embodiment of the utility model;

[0060] Figure 5 It is a schematic diagram of the top view of the structure of the intelligent lawn mower in a specific embodiment of the utility model;

[0061] Figure 6 It is a schematic diagram of the three-dimensional structure of the connection between the mounting plate and the housing in a specific embodiment of the utility model;

[0062] Figure 7 This is a schematic diagram of the three-dimensional structure of the heat dissipation structure in a specific embodiment of the utility model;

[0063] Figure 8 It is a three-dimensional structural schematic diagram of the shock absorbing component of the sensor device in the first embodiment of the utility model;

[0064] Fig. 9 It is a three-dimensional structural schematic diagram of the installation structure of the sensor device shock-absorbing component and the laser radar in the first embodiment of the utility model;

[0065] Fig.10 It is an exploded view of the installation structure of the sensor device shock absorber and the laser radar in the first embodiment of the utility model;

[0066] Fig.11 It is a three-dimensional structural schematic diagram of the installation structure of the sensor device shock-absorbing component and the laser radar in the fourth embodiment of the utility model;

[0067] Fig.12 It is an exploded view of the installation structure of the sensor device shock absorber and the laser radar in the fourth embodiment of the utility model;

[0068] Fig.13 It is a three-dimensional structural diagram of the installation structure of the shock absorbing member of the sensor device and the laser radar in the third embodiment of the utility model;

[0069] Fig.14 An exploded view of the installation structure of the sensor device shock absorber and the laser radar in the third embodiment of the present utility model;

[0070] Fig.15 This is a schematic diagram of the three-dimensional structure of the shock-absorbing column in the third embodiment of the present utility model;

[0071] Fig.16 An exploded view of the installation structure of the sensor device shock absorber and the laser radar in the fifth embodiment of the utility model;

[0072] Fig.17 It is a schematic diagram of the installation structure of the shock absorbing component of the sensor device and the laser radar according to the fifth embodiment of the utility model, which includes a partial cross-sectional view of the second shock absorbing body.

[0073] The above drawings include the following reference numerals:

[0074] 1. Casing; 11. Mounting plate; 111. Sensor device mounting portion; 2. Laser radar; 21. Radar body; 3. First heat dissipation device; 31. First heat sink; 4. Cover plate; 41. Through opening; 42. Second heat dissipation opening; 5. Annular sleeve; 51. Sensor device extension opening; 52. First heat dissipation opening; 6. Sensor device heat conductor; 7. Sensor device shock absorber; 701. First shock absorber body; 7011. Contact surface; 702. First connecting member; 703. Second connecting member; 71. Mounting hole; 72. Second shock absorber body; 721. First shock absorber end; 722. Second shock absorber end; 723. Shock absorber body section; 73. Third connecting member; 731. Limiting end. DETAILED DESCRIPTION

[0075] 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.

[0076] 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.

[0077] 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.

[0078] 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.

[0079] 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.

[0080] 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.

[0081] 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.

[0082] The technical solution of the present utility model will be described below in conjunction with the accompanying drawings.

[0083] Embodiment 1

[0084] like Figures 1 to 10 As shown, the intelligent lawn mower of the utility model includes an integrated sensor device, which is a laser radar 2. The intelligent lawn mower also includes a support and a sensor device shock absorber 7, the sensor device shock absorber 7 is connected to the laser radar 2 and the support, respectively, the laser radar 2 is at least partially arranged above the support, and the sensor device shock absorber 7 is used to dampen the laser radar 2.

[0085] Specifically, a sensor device shock absorber is arranged between the support and the laser radar 2, thereby achieving a shock-absorbing effect on the laser radar 2, so as to avoid the problem of poor detection accuracy due to vibration during the use of the laser radar 2, and also to avoid the vibration and noise of the whole machine caused by the laser radar 2.

[0086] Furthermore, the sensor device shock absorber 7 is arranged between the laser radar 2 and the support member, so that the vibration generated by the working state of the laser radar 2 is directly transmitted to the sensor device shock absorber 7, and the sensor device shock absorber 7 is used to shock the laser radar 2.

[0087] In this embodiment, the sensor device shock absorber 7 is connected to the laser radar 2 and the support member respectively. Since the radar is connected to the sensor device shock absorber 7, the vibration generated during the operation of the laser radar 2 will be transmitted to the sensor device shock absorber 7, thereby achieving the effect of reducing vibration; the sensor device shock absorber 7 is connected to the support member, thereby realizing the installation and fixation of the sensor device shock absorber 7.

[0088] Among them, the sensor device shock absorber 7 includes a first shock absorber body 701, a first connecting member 702 and a second connecting member 703. The first connecting member 702 is arranged on the first shock absorber body 701, and the first shock absorber body 701 is connected to the laser radar 2 through the first connecting member 702. The second connecting member 703 is arranged on the first shock absorber body 701, and the first shock absorber body 701 is connected to the support member through the second connecting member 703.

[0089] It should be noted that the first shock-absorbing body 701 is used for shock absorption, the first connecting member 702 is used for connection with the laser radar 2, and the second connecting member 703 is used for connection with the supporting member.

[0090] Furthermore, the first connecting member 702 is a nut, a screw, a light hole connecting member or an adhesive member, and the specific method is based on whether the first connecting member 702 and the laser radar 2 can be connected.

[0091] Furthermore, the second connecting member 703 is a nut, a screw, a hole connecting member or an adhesive member, and the specific method is based on the ability to achieve connection between the second connecting member 703 and the support member.

[0092] Furthermore, the first connecting member 702 is a first insert, and the first connecting member 702 is embedded in the first shock absorbing body 701; the first connecting member 702 and the first shock absorbing body 701 are integrally arranged. The first connecting member 702 and the first shock absorbing body 701 are integrally formed by a mold. The integrated first connecting member 702 and the shock absorbing body are conducive to improving the connection strength between the first connecting member 702 and the shock absorbing body, thereby improving the stability of the installation of the shock absorbing member of the sensor device. In addition, the integrated first connecting member 702 and the shock absorbing body are also conducive to improving the assembly efficiency.

[0093] Furthermore, the second connecting member 703 is a second insert, and the second connecting member 703 is embedded in the first shock absorbing body 701; the first connecting member 702, the second connecting member 703 and the first shock absorbing body 701 are integrally arranged. The second connecting member 703 and the first shock absorbing body 701 are integrally formed by a mold. The integral second connecting member 703 and the first shock absorbing body 701 are conducive to improving the connection strength between the second connecting member 703 and the first shock absorbing body 701, thereby improving the stability of the installation of the shock absorbing member of the sensor device. In addition, the integral second connecting member 703 and the first shock absorbing body 701 are also conducive to improving assembly efficiency.

[0094] like Figures 8 to 10 As shown, the first shock-absorbing body 701 is a shock-absorbing pad, and the laser radar 2 achieves shock absorption through the shock-absorbing pad.

[0095] Specifically, the shock-absorbing pad is arranged between the laser radar 2 and the support member to achieve the shock-absorbing effect of the laser radar 2.

[0096] Furthermore, the thickness of the shock-absorbing pad is 5-7 mm; when the thickness of the shock-absorbing pad is less than 5 mm, the shock-absorbing effect is not obvious, and when the thickness of the shock-absorbing pad is greater than 7 mm, the shock-absorbing pad has the problem of space limitation, inconvenience in installation and waste of materials.

[0097] In this embodiment, the smart lawn mower includes a housing 1, and the shock-absorbing pad is a special-shaped shock-absorbing pad (not shown). Along the moving direction of the smart lawn mower, the thickness of the rear end of the special-shaped shock-absorbing pad is greater than the thickness of the front end of the special-shaped shock-absorbing pad, so that along the moving direction of the smart lawn mower, the rear end of the laser radar 2 is higher than the front end of the laser radar 2.

[0098] Among them, when the laser radar 2 is installed through anisotropic shock-absorbing pads with varying thickness, the rear end of the laser radar 2 is made higher than the front end of the laser radar 2, so that the laser radar 2 maintains a preset installation position, so as to facilitate the laser radar 2 to perform environmental detection, including navigation, obstacle avoidance and weather detection.

[0099] Of course, the shock-absorbing pad is not limited to anisotropic shock-absorbing pads. The support member can also provide a supporting surface for the laser radar 2 with a rear end height greater than the front end height along the travel direction of the smart lawn mower, so that after the laser radar 2 is installed, the rear end of the laser radar 2 is higher than the front end of the laser radar 2.

[0100] Furthermore, the first shock absorbing body 701 is a silicone shock absorbing pad or a rubber shock absorbing pad, whichever can achieve the shock absorbing effect.

[0101] In this embodiment, if Figure 8 and Fig.10 As shown, the first shock absorbing body 701 is an annular shock absorbing pad, which can be used to provide an installation position for the heat conducting member 6 of the sensor device, so as to position and protect the heat conducting member 6 of the sensor device.

[0102] like Figures 8 to 10 As shown, the first shock absorbing body 701 has a contact surface 7011 for contacting and cooperating with the laser radar 2; at least two first inserts and two second inserts are provided, and the first inserts and the second inserts are alternately arranged in sequence in a direction parallel to the contact surface 7011.

[0103] Specifically, the first insert and the second insert are arranged alternately, so that the force of the laser radar 2 and the force of the supporting member exerted on the shock-absorbing body are alternately arranged, so as to achieve uniform force on the shock-absorbing body, thereby improving the installation strength of the shock-absorbing body, and thus ensuring the shock-absorbing efficiency of the laser radar 2 and the overall installation stability.

[0104] In this embodiment, preferably, Figure 8 and Fig.10 As shown, four first inserts and four second inserts are provided, and the first inserts and the second inserts are alternately arranged in sequence in the circumferential direction of the annular shock-absorbing pad.

[0105] like Figures 1 to 10 As shown, the smart lawn mower also includes a mounting plate 11 arranged on the support, the sensor device shock absorber 7 is arranged between the laser radar 2 and the mounting plate 11, the sensor device shock absorber 7 is indirectly connected to the support through the mounting plate 11, and the laser radar 2 is connected to the side of the sensor device shock absorber 7 away from the mounting plate 11.

[0106] Specifically, the sensor device shock absorber 7 and the laser radar 2 are supported by the mounting plate 11 to achieve positioning and installation of the sensor device shock absorber 7 and the laser radar 2.

[0107] It should be noted that the sensor device shock absorbing member 7 may be indirectly connected to the support member through the mounting plate 11, or the sensor device shock absorbing member 7 may be directly connected to the support member.

[0108] In the embodiment of the present application, the intelligent lawn mower includes a housing 1, and the supporting member is the housing 1.

[0109] It should be noted that the sensor device shock absorbing member 7 may be indirectly connected to the housing 1 via the mounting plate 11 , or the sensor device shock absorbing member 7 may be directly connected to the housing 1 .

[0110] like Figures 1 to 6 As shown, the mounting plate 11 is fixedly mounted on the front end area of ​​the top of the housing 1 , and a sensor device mounting portion 111 is provided on the mounting plate 11 , and the laser radar 2 is mounted on the sensor device mounting portion 111 .

[0111] Among them, along the moving direction of the smart lawn mower, the rear end of the sensor device mounting part 111 is higher than the front end of the sensor device mounting part 111, so that along the moving direction of the smart lawn mower, the rear end of the laser radar 2 is higher than the front end of the laser radar 2, so as to form the sensor device mounting part 111 which is inclined relative to the horizontal plane along the moving direction of the smart lawn mower, thereby realizing that the laser radar 2 is also in an inclined state when installed on the sensor device mounting part 111.

[0112] Specifically, the intelligent lawn mower includes a housing 1 , the supporting member is the housing 1 , and the laser radar 2 is fixedly connected to the housing 1 through a mounting plate 11 , which is beneficial to enhancing the stability of the installation of the laser radar 2 .

[0113] Furthermore, if Figure 4 As shown, the inclination angle α between the sensor device installation portion 111 and the horizontal plane in this embodiment is α, and the range of α is 10°-60°. Preferably, the inclination angle α between the sensor device installation portion 111 and the horizontal plane is 20°.

[0114] Further, the inclination angle α between the sensor device mounting portion 111 and the horizontal plane can be 15°, or the inclination angle α between the sensor device mounting portion 111 and the horizontal plane can be 18°, or the inclination angle α between the sensor device mounting portion 111 and the horizontal plane can be 28°. The range of the inclination angle α between the sensor device mounting portion 111 and the horizontal plane is not limited to the listed values, and other values ​​not listed within the numerical range are also applicable.

[0115] 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 sensor device mounting portion 111 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 sensor device mounting portion 111 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.

[0116] Further, when the other parameters are determined, when the inclination angle α between the sensor device installation part 111 and the horizontal plane in this embodiment 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 area 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.

[0117] 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.

[0118] like Figures 5 to 10 As shown, the intelligent lawn mower further includes a first heat sink 3, which is connected to the mounting plate 11 and is disposed on the side of the laser radar 2. The first heat sink 3 is used to dissipate heat for the laser radar 2. The heat generated by the laser radar 2 is transferred through the mounting plate and the first heat sink 3 to achieve the effect of assisting the laser radar 2 in dissipating heat.

[0119] Furthermore, the first heat dissipation device 3 includes a plurality of first heat dissipation fins 31, which are arranged at intervals, wherein heat dissipation gaps are formed between the plurality of first heat dissipation fins 31 arranged at intervals, thereby increasing the contact area with the air to improve the heat dissipation effect.

[0120] In this embodiment, the first heat sink 3 and the mounting plate 11 are integrally arranged, which is conducive to heat transfer and also enhances the overall strength of the first heat sink 3 and the mounting plate, thereby improving durability.

[0121] The first heat sink 3 and the mounting plate 11 are aluminum castings to improve the heat dissipation effect.

[0122] like Figures 1 to 7 As shown, the mounting plate 11 is also used for heat conduction. The intelligent lawn mower also includes a sensor device heat conductor 6, which is arranged between the laser radar 2 and the mounting plate 11. The sensor device heat conductor 6 is used to conduct the heat of the laser radar 2 to the mounting plate 11, and then conduct it from the mounting plate 11 to the first heat dissipation device 3.

[0123] Furthermore, the first shock absorbing body 701 is provided with a mounting hole 71 matching with the heat conducting member 6 of the sensor device. The mounting hole 71 is provided through the first shock absorbing body 701 , and the heat conducting member 6 of the sensor device is provided in the mounting hole 71 .

[0124] In this embodiment, a heat conductor 6 of the sensor device is placed at the mounting hole 71 of the shock absorbing body, thereby transferring heat from the laser radar 2 to the mounting plate 11. The mounting plate 11 transfers the heat to the first heat dissipation device 3 to achieve heat dissipation, thereby achieving the effect of cooling the laser radar 2.

[0125] Furthermore, the laser radar 2 integrates at least two of the navigation, obstacle avoidance and weather detection functions of the intelligent lawn mower. The intelligent lawn mower of the utility model has at least two of the navigation, obstacle avoidance and weather detection functions. 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.

[0126] Furthermore, the laser radar 2 integrates the navigation and obstacle avoidance functions of the smart lawn mower. 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.

[0127] Furthermore, the number of laser radars 2 integrated with the navigation and obstacle avoidance functions of the smart lawn mower is only one. The housing of the smart lawn mower of the utility model is only provided with one laser radar 2, which realizes the functions of navigation and obstacle avoidance by providing one laser radar 2, 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 2 to save costs and improve the product experience.

[0128] In more embodiments, the laser radar 2 can integrate the navigation function of the smart lawn mower while also integrating the positioning function.

[0129] Furthermore, the laser radar 2 also integrates a weather detection function. Weather detection can be performed 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 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.

[0130] Exemplarily, weather detection may include rain detection, hail detection, snow detection, sandstorm detection, fog detection, etc.

[0131] Furthermore, the number of laser radars 2 integrated with the navigation, obstacle avoidance and weather detection functions of the smart lawn mower is only one. The smart lawn mower of the utility model is only provided with one laser radar 2 on its casing. By providing one laser radar 2 to realize the functions of navigation, obstacle avoidance and weather detection, the hardware structure is simplified, and the problem of complex control system caused by using multiple external sensors in the prior art is also overcome. The present application only uses one laser radar 2 to save costs and improve the product experience.

[0132] 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.

[0133] 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.

[0134] In some embodiments, the smart lawn mower does not include any other sensors for navigation.

[0135] In other embodiments, the smart lawn mower does not include any other sensors for obstacle avoidance.

[0136] In other embodiments, the smart lawn mower does not include any other sensors for weather detection.

[0137] In other embodiments, the smart lawn mower does not include any other sensors for navigation or obstacle avoidance.

[0138] In other embodiments, the smart lawn mower does not include any other sensors for navigation or weather detection.

[0139] In other embodiments, the smart lawn mower does not include any other sensors for obstacle avoidance or weather detection.

[0140] In other embodiments, the smart lawn mower does not include any other sensors for navigation, obstacle avoidance, and weather detection.

[0141] In this embodiment, the laser radar 2 can be positioned so as to at least partially protrude from the casing 1, so as to better perform navigation, obstacle avoidance and weather detection. 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.

[0142] In some specific embodiments, the laser radar 2 is disposed on the housing 1 .

[0143] 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.

[0144] like Figures 1 to 6 As shown, 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.

[0145] 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.

[0146] In this embodiment, a groove structure is provided in the front end area of ​​the top of the housing 1 for installing the laser radar 2 , and the groove structure provides a supporting surface that cooperates with the mounting plate 11 so as to position the laser radar 2 by positioning the mounting plate 11 .

[0147] 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.

[0148] 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.

[0149] 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.

[0150] 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 .

[0151] 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.

[0152] In this embodiment, the smart lawn mower also includes a cover plate 4, which is arranged on the casing. A sensor device accommodating space is formed between the cover plate 4 and the casing 1. The laser radar 2 is at least partially accommodated in the sensor device accommodating space. The cover plate 4 has a through opening 41, and at least a portion of the laser radar 2 extends outward from the through opening 41.

[0153] Among them, the smart lawn mower also includes an annular sleeve 5, which is fixedly connected to the cover plate 4 at the through-hole 41. The annular sleeve 5 is provided with a sensor device extension port 51 matching the laser radar 2, and the laser radar 2 at least partially extends outward from the sensor device extension port 51.

[0154] 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 to form an arc-shaped heat dissipation opening structure, and the annular sleeve 5 plays a protective and decorative role.

[0155] Furthermore, a heat dissipation gap may be formed between the cover plate 4 and the housing 1 to take away the heat of the laser radar 2 when air flows through, so as to dissipate heat.

[0156] In this embodiment, there is at least one second heat dissipation port 42 between the cover plate 4 and the housing 1 , 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 .

[0157] like Figure 5 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.

[0158] Furthermore, the housing 1 has a second heat dissipation opening 42, which is a long strip hole structure to facilitate ventilation and heat dissipation when the intelligent lawn mower is in operation. The second heat dissipation opening 42 can be arranged on the front side of the housing 1 to improve the heat dissipation effect.

[0159] 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.

[0160] like Figure 5 and Figure 6 As shown, the center of the laser radar in this embodiment is located on the midline of the width direction of the housing 1. It can be understood that since the housing 1 of the lawn mower is designed symmetrically along the width direction, arranging the laser radar on the midline of the housing 1 along the width direction 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.

[0161] In a specific embodiment not shown in the figure, the center of the laser radar 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.

[0162] like Figures 1 to 6 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.

[0163] It should be noted that if Figure 4 As shown, 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.

[0164] 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.

[0165] 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.

[0166] like Figure 5 As shown, in the width direction of the casing 1, the casing 1 has a first end side and a second end side that are relatively arranged; since the width of the lawn mower body will affect the detection range of the laser radar, when the distance W between the front end of the first end side and the front end of the second end side along the width direction of the casing 1 is less than or equal to 600 mm, it can prevent the laser radar arranged on the mounting plate 11 from being unable to detect the environment and terrain on both sides of the body.

[0167] In this embodiment, if Figure 2 As shown, the horizontal field of view of the laser radar 2 is 360°; Figure 4 As shown, the vertical field of view angle is greater than or equal to 30°.

[0168] Preferably, the vertical field of view of the laser radar is 40°, preferably, the vertical field of view of the laser radar is 50°, preferably, the vertical field of view of the laser radar is 59°. The vertical field of view of the laser radar is not limited to the listed values, and other values ​​not listed within the numerical range are also applicable.

[0169] It should be noted that the larger the vertical field of view angle, 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 using a laser radar with a vertical field of view angle greater than or equal to 30° 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.

[0170] Embodiment 2

[0171] Different from the first embodiment, in this embodiment, no mounting plate is provided, and the sensor device shock absorbing member 7 is directly connected to the supporting member.

[0172] In this embodiment, the shock-absorbing member of the sensor device achieves shock absorption through the shock-absorbing body, and is connected to the laser radar 2 through the first connecting member 702, and is directly connected to the support member through the second connecting member 703, thereby reducing the use of parts, simplifying the assembly process, and improving assembly efficiency.

[0173] Embodiment 3

[0174] Different from the first embodiment, Figures 13 to 15 As shown, in this embodiment, the first shock absorbing body 701 is a shock absorbing column.

[0175] Specifically, the laser radar 2 achieves shock absorption through shock-absorbing columns.

[0176] The first shock absorbing body 701 is a silicone shock absorbing column or a rubber shock absorbing column, so as to enable the first shock absorbing body 701 to have a good shock absorbing effect.

[0177] Furthermore, the shock-absorbing column can be a miniature shock-absorbing column; the length of the shock-absorbing column is 6-10mm; when the length of the shock-absorbing column is less than 6mm, the shock-absorbing effect is poor; when the length of the shock-absorbing column is greater than 10mm, the laser radar has the problem of poor installation stability.

[0178] Furthermore, the cross-sectional area of ​​the shock-absorbing column is 25-80 mm 2 If the cross-sectional area of ​​the shock-absorbing column is too small, the shock-absorbing effect will be poor; if the cross-sectional area of ​​the shock-absorbing column is too large, it will occupy a large space and waste materials.

[0179] Furthermore, the diameter of the shock-absorbing column is 6-10 mm. If the diameter of the shock-absorbing column is too small, the shock-absorbing effect is poor; if the diameter of the shock-absorbing column is too large, a large space is occupied and materials are wasted.

[0180] In this embodiment, the specific size of the shock-absorbing column can be adaptively set according to the size of the laser radar 2.

[0181] like Figures 13 to 15 As shown, the first connecting member 702 and the second connecting member 703 are arranged at intervals along the axial direction of the shock absorbing column, and the first connecting member 702 and the second connecting member 703 are respectively arranged at two ends of the axial direction of the shock absorbing column.

[0182] For example, the axial direction of the shock absorbing column can refer to Fig.14 The direction of the arrow X.

[0183] It should be noted that the shock-absorbing body can be selected according to the distance between the laser radar 2 and the support. When the distance between the laser radar 2 and the support is small, a shock-absorbing pad can be selected. When the distance between the laser radar 2 and the support is large, a shock-absorbing column can be selected.

[0184] Specifically, the first connecting member 702 is connected to the laser radar, and the shock-absorbing column can realize the shock-absorbing of the laser radar. At the same time, the second connecting member 703 is connected to the supporting member to realize the connection between the laser radar 2 and the supporting member through the shock-absorbing member of the sensor device.

[0185] Furthermore, the first connecting member 702 is a nut, a screw, a hole connecting member or an adhesive member.

[0186] Furthermore, the second connecting member 703 is a nut, a screw, a hole connecting member or an adhesive member.

[0187] In this embodiment, at least two shock-absorbing columns are provided, and at least two shock-absorbing columns are provided at intervals. The provision of multiple shock-absorbing columns can realize multi-point support for the laser radar 2, thereby avoiding concentrated stress and improving the stability of supporting the laser radar 2.

[0188] In this embodiment, the smart lawn mower includes a housing 1, and along the moving direction of the smart lawn mower, the length of the shock absorbing column at the rear end is greater than the length of the shock absorbing column at the front end, so that along the moving direction of the smart lawn mower, the rear end of the laser radar 2 is higher than the front end of the laser radar 2. By adjusting the height of the shock absorbing columns at different positions, a preset installation angle is provided for the installation of the laser radar 2, thereby improving the convenience of installation.

[0189] Of course, it is not limited to adjusting the size of the shock-absorbing column. The support member can also provide a sensor device installation part 111 for the installation of the laser radar 2, in which the height of the rear end along the travel direction of the intelligent lawn mower is greater than the height of the front end, so that after the laser radar 2 is installed, the rear end of the laser radar 2 is higher than the front end of the laser radar 2.

[0190] Embodiment 4

[0191] Different from the first embodiment, Figure 11 to Figure 12 As shown, in this embodiment, the second connecting member 703 is a connecting plate, which is fixedly arranged on the peripheral side of the first shock absorbing body 701 , and the first connecting member 702 , the second connecting member 703 and the first shock absorbing body 701 are integrally arranged.

[0192] Specifically, the integrally formed first connecting member 702 , second connecting member 703 and first shock absorbing body 701 are beneficial to increasing the overall installation strength, thereby helping to improve the shock absorbing effect of the laser radar 2 .

[0193] Furthermore, the second connecting member 703 is disposed on the peripheral side of the first shock absorbing body 701 to position and protect the shock absorbing body.

[0194] The connecting plate is a plastic connecting plate or a metal connecting plate, and the connecting plate is a structural member with strength to achieve a hard connection between the connecting plate and the supporting member.

[0195] In this embodiment, the second connecting member 703 is an annular connecting plate, and the first shock absorbing body 701 is arranged on the inner circumference of the annular connecting plate. The annular connecting plate provides an installation position for the first shock absorbing body 701 and is used to connect with the support. The specific shape of the annular connecting plate can be a rectangular ring or a circular ring or an elliptical ring structure, specifically based on the first shock absorbing body 701 and the inner circumference of the annular connecting plate can be arranged integrally.

[0196] Embodiment 5

[0197] Different from the first embodiment, Figure 16 to Figure 17 As shown, in this embodiment, the sensor device shock absorbing member 7 includes a second shock absorbing body 72 and a third connecting member 73 .

[0198] Specifically, the third connecting member 73 and the second shock absorbing body 72 are arranged on the same side of the laser radar 2, the third connecting member 73 is fixedly connected to the laser radar 2, and the third connecting member 73 and the laser radar 2 are indirectly connected to the support member through the second shock absorbing body 72.

[0199] Among them, in this embodiment, the third connecting member 73 is fixedly connected to the laser radar 2 to form a connection as a whole, so that when the laser radar 2 vibrates and moves, the laser radar 2 can drive the third connecting member 73 to move synchronously. By setting the second shock absorbing body 72 between the connection as a whole formed by the fixed connection between the third connecting member 73 and the laser radar 2 and the support, the connection as a whole is limited, and the second shock absorbing body 72 also has a shock filtering effect, so as to improve the stability and safety of the laser radar 2 installation.

[0200] Furthermore, the third connecting member 73 and the second shock absorbing body 72 are arranged on the side of the laser radar facing the support member, so as to achieve shock absorption of the laser radar 2 and the third connecting member 73 through the second shock absorbing body 72 .

[0201] In this embodiment, if Fig.16 and Fig.17 As shown, a mounting through hole matching the second shock absorbing body 72 is provided on the support member, the second shock absorbing body 72 is connected to the support member at the mounting through hole, and the second shock absorbing body 72 is at least partially arranged in the mounting through hole; the third connecting member 73 can pass through the mounting through hole and be fixedly connected to the laser radar 2.

[0202] Specifically, the mounting through hole is the mounting position of the second shock absorbing body 72, and the second shock absorbing body 72 is mounted at the mounting through hole, so that when the third connecting member 73 vibrates and is displaced relative to the mounting through hole, the second shock absorbing body 72 can provide buffering, thereby achieving the effect of reducing the amount of vibration.

[0203] Furthermore, the outer circumferential surface of the inner portion of the second shock absorbing body 72 located for installation abuts against the inner circumferential surface of the installation through hole, thereby achieving the positioning installation of the second shock absorbing body 72 .

[0204] Furthermore, the first end of the second shock absorbing body 72 extends out of the mounting through hole toward the laser radar 2 , and the first end of the second shock absorbing body 72 includes a first shock absorbing end 721 , and the first shock absorbing end 721 is arranged between the support and the laser radar 2 .

[0205] Among them, when the laser radar 2 moves toward the support, the first shock-absorbing end 721 is used to prevent the laser radar 2 from colliding with the support. At the same time, the setting of the first shock-absorbing end 721 is also conducive to achieving a shock-absorbing effect on the laser radar 2.

[0206] In this embodiment, the first shock absorbing end 721 is arranged in contact with the laser radar 2, which is beneficial to improving the shock filtering effect of the second shock absorbing component. The second shock absorbing component also has the effect of replicating the support of the laser radar 2.

[0207] like Fig.16 and Fig.17 As shown, the second end of the second shock-absorbing body 72 away from the laser radar 2 extends out of the mounting through hole, the second end of the second shock-absorbing body 72 includes a second shock-absorbing end 722, and a limiting end 731 is set at one end of the third connecting member 73 away from the laser radar 2; the second shock-absorbing end 722 is set between the support member and the limiting end 731.

[0208] Among them, the first shock absorbing end 721 is abutted against the laser radar 2, and the second shock absorbing end 722 is abutted against the limiting end 731 of the third connecting member 73. By abutting and setting the second shock absorbing body 72 between the laser radar 2 and the limiting end 731, when the connection formed by the laser radar 2 and the third connecting member 73 vibrates as a whole, the second shock absorbing body 72 has the function of filtering shock, so as to achieve the effect of reducing the vibration amplitude.

[0209] In this embodiment, the second shock absorbing body 72 is connected to the support member through the first shock absorbing end 721 and the second shock absorbing end 722. The first shock absorbing end 721 and the second shock absorbing end 722 are respectively abutted against the surface of the support member facing toward and away from the laser radar 2, thereby achieving the abutment and limiting of the second shock absorbing body 72 and the support member.

[0210] Specifically, the second shock absorbing body 72 also includes a shock absorbing body section 723 arranged between the first shock absorbing end 721 and the second shock absorbing end 722, at least a portion of the shock absorbing body section 723 passes through the mounting hole and abuts against the inner wall surface of the mounting hole, the first shock absorbing end 721 and the second shock absorbing end 722 are circumferential flanges arranged at both ends of the shock absorbing body section 723, and the circumferential flanges protrude in the direction away from the mounting hole.

[0211] Among them, the third connecting member 73 passes through the shock absorbing main section 723 and is fixedly connected to the laser radar 2, that is, the shock absorbing main section 723 is covered on the third connecting member 73. This embodiment adopts the structure of the circumferential flanges at both ends of the first shock absorbing end 721 and the second shock absorbing main section 723, so that the two circumferential flanges can abut against the support member to achieve the effect of limiting the second shock absorbing body 72 and the support member; the two circumferential flanges can increase the contact area between the second shock absorbing body 72 and the end face of the support member facing toward and away from the laser radar 2 to improve the stability of the assembly; at the same time, the setting structure of the circumferential flange can increase the contact area between the second shock absorbing body 72 and the laser radar 2, which is conducive to improving the shock absorption effect.

[0212] Furthermore, a mounting chamfer is provided on the first damping end 721 .

[0213] In this embodiment, the second shock absorbing body 72 is a shock absorbing sleeve, and the third connecting member 73 is a step fastener, such as a step screw.

[0214] It can be seen from the above technical solutions that the utility model has the following beneficial effects:

[0215] The intelligent lawn mower of the utility model achieves the effect of shock absorbing the laser radar 2 by arranging a sensor device shock absorbing member 7 between the support member and the laser radar 2, so as to avoid the problem of poor detection accuracy caused by vibration of the laser radar 2 during use, and also avoid the problem of vibration and noise of the whole machine caused by the laser radar 2.

[0216] Only one laser radar 2 is arranged on the casing 1 of the lawn mower of the utility model. By arranging one laser radar 2 to realize the functions of navigation, obstacle avoidance and weather detection, the hardware structure is simplified, and the problem of complex control system caused by using multiple external sensors in the prior art is also overcome. The present application only uses one laser radar 2 to save costs and improve the product experience.

[0217] The lawn mower of the present invention 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 present application is set with a laser radar 2, which can see the nearest points of the front end, left end and right end of the machine, further improving the safety of the operation of the lawn mower.

[0218] 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.

[0219] 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, at least partially disposed above the support; A sensor device shock absorber, wherein the sensor device shock absorber is respectively connected to the laser radar and the supporting member, and the sensor device shock absorber is used to reduce vibration of the laser radar.

2. The intelligent lawn mower according to claim 1, characterized in that: The sensor device shock absorber is arranged between the laser radar and the support member.

3. The intelligent lawn mower according to claim 1, characterized in that: The sensor device shock absorbing component includes a shock absorbing pad or a shock absorbing column.

4. The intelligent lawn mower according to claim 1, characterized in that: The sensor device shock absorbing member comprises: A first shock absorbing body; A first connecting member is provided on the first shock absorbing body, and the first shock absorbing body is connected to the laser radar through the first connecting member; The second connecting member is arranged on the first shock absorbing body, and the first shock absorbing body is connected to the supporting member through the second connecting member.

5. The intelligent lawn mower according to claim 4, characterized in that: The first connecting member is a nut, a screw, a hole connecting member or an adhesive member; and / or, The second connecting member is a nut, a screw, a hole connecting member or an adhesive member.

6. The intelligent lawn mower according to claim 4, characterized in that: The first connecting member is a first insert, and the first connecting member is embedded in the first shock absorbing body; the first connecting member and the first shock absorbing body are integrally arranged.

7. The intelligent lawn mower according to claim 6, characterized in that: The second connecting member is a second embedded member, and the second connecting member is embedded in the first shock absorbing body; the first connecting member, the second connecting member and the first shock absorbing body are integrally arranged.

8. The intelligent lawn mower according to claim 7, characterized in that: The first shock-absorbing body is a shock-absorbing pad.

9. The intelligent lawn mower according to claim 8, characterized in that: The thickness of the shock-absorbing pad is 5-7 mm.

10. The intelligent lawn mower according to claim 8, characterized in that: The smart lawn mower includes a housing, and along the moving direction of the smart lawn mower, the thickness of the rear end of the shock-absorbing pad is greater than the thickness of the front end of the shock-absorbing pad, so that along the moving direction of the smart lawn mower, the rear end of the laser radar is higher than the front end of the laser radar.

11. The intelligent lawn mower according to claim 8, characterized in that: The first shock-absorbing body is a silicone shock-absorbing pad or a rubber shock-absorbing pad.

12. The intelligent lawn mower according to claim 8, characterized in that: The first shock-absorbing body is an annular shock-absorbing pad.

13. The intelligent lawn mower according to claim 8, characterized in that: The first shock absorbing body has a contact surface for contacting and cooperating with the laser radar; the first insert and the second insert are each provided with at least two, and the first insert and the second insert are alternately arranged in sequence in a direction parallel to the contact surface.

14. The intelligent lawn mower according to claim 7, characterized in that: The first shock absorbing body is a shock absorbing column.

15. The intelligent lawn mower according to claim 14, characterized in that: The shock absorbing column at least meets one of the following characteristics: The length of the shock absorbing column is 6-10 mm; The cross-sectional area of ​​the shock-absorbing column is 25-80 mm 2 .

16. The intelligent lawn mower according to claim 14, characterized in that: The first shock-absorbing body is a silicone shock-absorbing column or a rubber shock-absorbing column.

17. The intelligent lawn mower according to claim 14, characterized in that: The first connecting member and the second connecting member are arranged at intervals along the axial direction of the shock absorbing column, and the first connecting member and the second connecting member are respectively arranged at two ends of the axial direction of the shock absorbing column.

18. The intelligent lawn mower according to claim 14, characterized in that: At least two shock absorbing columns are provided, and at least two shock absorbing columns are arranged at intervals.

19. The intelligent lawn mower according to claim 18, characterized in that: The smart lawn mower includes a housing, and along the moving direction of the smart lawn mower, the length of the shock-absorbing column located at the rear end is greater than the length of the shock-absorbing column located at the front end, so that along the moving direction of the smart lawn mower, the rear end of the laser radar is higher than the front end of the laser radar.

20. The intelligent lawn mower according to claim 6, characterized in that: The second connecting member is a connecting plate, and the connecting plate is fixedly arranged on the peripheral side of the first shock absorbing body. The first connecting member, the second connecting member and the first shock absorbing body are integrally arranged.

21. The intelligent lawn mower according to claim 20, characterized in that: The connecting plate is a plastic connecting plate or a metal connecting plate.

22. The intelligent lawn mower according to claim 20, characterized in that: The second connecting member is an annular connecting plate, and the first shock absorbing body is arranged on the inner circumference side of the annular connecting plate.

23. The intelligent lawn mower according to claim 1, characterized in that: The sensor device shock absorbing member comprises: A second shock absorbing body; The third connecting member and the second shock absorbing body are arranged on the same side of the laser radar, the third connecting member is fixedly connected to the laser radar, and the third connecting member and the laser radar are indirectly connected to the supporting member through the second shock absorbing body.

24. The intelligent lawn mower according to claim 23, characterized in that: The support member is provided with a mounting through hole adapted to the second shock absorbing body, the second shock absorbing body is connected to the support member at the mounting through hole, and the second shock absorbing body is at least partially arranged in the mounting through hole; the third connecting member can pass through the mounting through hole and be fixedly connected to the laser radar.

25. The intelligent lawn mower according to claim 24, characterized in that: The first end of the second shock absorbing body extends out of the mounting through hole toward the laser radar, and the first end of the second shock absorbing body includes a first shock absorbing end, and the first shock absorbing end is arranged between the support member and the laser radar.

26. The intelligent lawn mower according to claim 25, characterized in that: The second end of the second shock absorbing body away from the laser radar extends out of the mounting through hole, and the second end of the second shock absorbing body includes a second shock absorbing end; A limiting end is arranged at one end of the third connecting member away from the laser radar; and the second shock absorbing end is arranged between the supporting member and the limiting end.

27. The intelligent lawn mower according to claim 26, characterized in that: The second shock-absorbing body also includes a shock-absorbing body section arranged between the first shock-absorbing end and the second shock-absorbing end, at least a portion of the shock-absorbing body section passes through the mounting hole and abuts against the inner wall surface of the mounting hole, the first shock-absorbing end and the second shock-absorbing end are circumferential flanges arranged at both ends of the shock-absorbing body section, and the circumferential flanges protrude in a direction away from the mounting hole.

28. The intelligent lawn mower according to claim 26, characterized in that: The second shock absorbing body is position-limitingly connected to the supporting member through the first shock absorbing end and the second shock absorbing end.

29. The intelligent lawn mower according to claim 26, characterized in that: The first damping end is provided with a mounting chamfer.

30. The intelligent lawn mower according to claim 23, characterized in that: The second shock-absorbing body is a shock-absorbing sleeve, and / or the third connecting member is a step fastener.

31. The intelligent lawn mower according to any one of claims 1 to 30, characterized in that: The smart lawn mower also includes a mounting plate arranged on the support member, the sensor device shock absorber is at least partially arranged between the laser radar and the mounting plate, the sensor device shock absorber is indirectly connected to the support member through the mounting plate, and the laser radar is connected to a side of the sensor device shock absorber away from the mounting plate.

32. The intelligent lawn mower according to any one of claims 1-30, characterized in that: The sensor device shock absorbing member is directly connected to the supporting member.

33. The intelligent lawn mower according to any one of claims 1-9 or 11-18 or 20-30, characterized in that: The intelligent lawn mower comprises a casing, and the supporting member is the casing.

34. The intelligent lawn mower according to claim 10 or 19, characterized in that: The supporting member is the housing.

35. The intelligent lawn mower according to any one of claims 3 to 30, characterized in that: The intelligent lawn mower further comprises a sensor device heat conductor and a first heat sink, wherein the sensor device heat conductor is connected to the laser radar and the first heat sink respectively; The heat conductor of the sensor device is used to conduct the heat of the laser radar to the first heat dissipation device.

36. The intelligent lawn mower according to claim 35, characterized in that: The sensor device shock absorber comprises a first shock absorber body, the first shock absorber body is provided with a mounting hole matching the sensor device heat conductor, the mounting hole passes through the first shock absorber body, and the sensor device heat conductor is arranged in the mounting hole.

37. The intelligent lawn mower according to any one of claims 1 to 30, characterized in that: The laser radar integrates at least two of the navigation, obstacle avoidance and weather detection functions of the smart lawn mower.

38. The intelligent lawn mower according to claim 37, characterized in that: The laser radar integrates the navigation and obstacle avoidance functions of the smart lawn mower.

39. The intelligent lawn mower according to claim 38, 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.

40. The intelligent lawn mower according to claim 38, characterized in that: The laser radar also integrates a weather detection function.

41. The intelligent lawn mower according to claim 40, 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.

42. The intelligent lawn mower according to any one of claims 1-9 or 11-18 or 20-30, characterized in that: The intelligent lawn mower comprises a housing, and the laser radar is arranged at a front end area of ​​the top of the housing at an angle to a horizontal plane.

43. The intelligent lawn mower according to claim 10 or 19, 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.

44. The intelligent lawn mower according to claim 31, characterized in that: The mounting plate has a sensor mounting portion; along the moving direction 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 moving direction of the smart lawn mower, the rear end of the laser radar is higher than the front end of the laser radar.

45. The intelligent lawn mower according to any one of claims 1-30, 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°.

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