Mowing device and automatic mower

Abstract

The utility model relates to a mowing device and an automatic mowing machine, and aims to solve the problem that a visual module of the mowing device has a wide-range low-position blind area. The mowing device comprises a shell and a visual module, the visual module comprises a camera shooting assembly, the camera shooting assembly is installed on the shell, the height range from the center of a lens of the camera shooting assembly to the ground is 200-300 mm, the lens of the camera shooting assembly inclines towards the ground, and the included angle range between the center view field of the lens and the ground is 8-15 degrees. In this way, the visual module is arranged at the high position of the mowing device, more images of the low-position environment can be recorded, and the accuracy of obstacle avoidance judgment can be guaranteed.

Description

Technical Field

[0001] The utility model patent relates to a mowing device, in particular to a mowing device installed on a self-moving device. Background Art

[0002] Automatic lawn mowers are widely used in agriculture, gardening and other fields. They can achieve precise mowing in a given area, significantly improving the efficiency of lawn maintenance and are favored by users. In order to achieve the obstacle avoidance function, the mowing device is usually equipped with a visual module, which can identify surrounding obstacles in real time, and make obstacle avoidance or pause actions after comprehensive analysis of the image information. Although the existing technology has made certain progress in this regard, the image collection range of the camera component has certain limitations, especially when the camera component is installed at a higher position on the mowing device, the visual module has a large range of low-level blind spots, which will affect the obstacle avoidance judgment. Utility Model Content

[0003] The utility model provides a mowing device and an automatic mower in view of the prior art, aiming to solve the problem that a visual module has a relatively large low-position blind area.

[0004] The utility model achieves the above-mentioned purpose through the following technical solutions.

[0005] The utility model provides a mowing device, comprising:

[0006] shell;

[0007] A visual module, wherein the visual module comprises a camera assembly, wherein the camera assembly is mounted on the housing, wherein the height range of the center of the lens of the camera assembly from the ground is 200 mm to 300 mm, the lens of the camera assembly is tilted toward the ground, and the angle range between the central field of view of the lens and the ground is 8° to 15°.

[0008] In some embodiments, the housing includes a first shell and a second shell, the visual module is disposed in the second shell, and the second shell can be detachably mounted on the first shell.

[0009] In some embodiments, the second shell is provided with a countersunk hole, and the second shell is screwed to the first shell through the mounting portion of the countersunk hole, and the opening of the non-mounting portion of the countersunk hole is provided with a waterproof plug.

[0010] In some embodiments, the camera assembly includes a camera body and a frame, and the frame has an inner cavity for accommodating the camera body.

[0011] In some embodiments, the frame is a metal frame.

[0012] In some embodiments, the frame has a first through hole, the camera body is at least partially embedded in the first through hole, a waterproof rubber ring is provided between the camera body and the first through hole, and waterproof glue is poured into the interior of the frame.

[0013] In some embodiments, the visual module includes a transparent lens and a heat-insulating sheet, the second shell is provided with a second through hole adapted to the transparent lens, the transparent lens is installed in the second through hole, and the heat-insulating sheet is located between the lens and the transparent lens.

[0014] In some embodiments, the visual module further includes a lighting assembly for providing a light source for the camera assembly, wherein the lighting assembly includes a light board and an outer lamp cover, and the outer lamp cover is used to scatter the light emitted by the light board.

[0015] In some embodiments, the lighting assembly further includes an inner lampshade, wherein the inner lampshade is located between the lamp panel and the outer lampshade, and the outer surface of the inner lampshade has a brightness enhancement layer.

[0016] The utility model also provides an automatic lawn mower, comprising a self-moving device and the above-mentioned lawn mowing device; the lawn mowing device is arranged on the self-moving device, and the lawn mowing device can complete the lawn mowing operation of a preset area under the drive of the self-moving device.

[0017] The beneficial effect of the utility model is that the mowing device of the utility model solves the problem of a large range of low-level blind spots in the visual module of the mowing device in the prior art. The camera component is installed on the shell, and the lens of the camera component is tilted toward the ground. Even if the camera component is set at a higher position of the mowing device, it can collect more images of the low-level environment, which is conducive to ensuring the accuracy of obstacle avoidance judgment. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the implementation modes of the present invention, the drawings required for use in the description of the implementation modes will be briefly introduced below. Obviously, the drawings described below are only some implementation modes of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 A schematic diagram of a mowing device provided in an embodiment of the utility model is shown;

[0020] Figure 2 An exploded view of the first shell and the second shell is shown;

[0021] Figure 3 A cross-sectional view showing a section where the counterbore in the second shell is located;

[0022] Figure 4 A cross-sectional view showing the section where the center of the lens is located;

[0023] Figure 5 An exploded view of a camera assembly is shown;

[0024] Figure 6 An exploded view of a lighting assembly is shown;

[0025] Figure 7 A schematic diagram of the structure of an automatic lawn mower is shown.

[0026] Description of Figure Numbers:

[0027] 100. Mowing device;

[0028] 10. housing; 11. first housing; 12. second housing; 121. second through hole; 122. countersunk hole; 1221. mounting portion; 1222. non-mounting portion; 123. waterproof plug;

[0029] 20. Visual module; 21. Camera assembly; 211. Camera body; 2111. Lens; 2112. Central field of view; 212. Frame; 2121. First through hole; 213. Waterproof rubber ring; 22. Transparent lens; 23. Heat insulation sheet; 24. Lighting assembly; 241. Light board; 242. Outer lampshade; 243. Inner lampshade;

[0030] 200. Self-equipped equipment;

[0031] 1000. Automatic lawn mower. DETAILED DESCRIPTION

[0032] In order to enable those skilled in the art to better understand the solution of the utility model, the technical solution in the implementation of the utility model will be clearly and completely described below in conjunction with the drawings in the implementation of the utility model. Obviously, the described implementation is only a part of the implementation of the utility model, not all of the implementations. Based on the implementation of the utility model, all other implementations obtained by those skilled in the art without creative work are within the scope of protection of the utility model.

[0033] It should be noted that, in the present application specification, when a component is considered to be "disposed on" another component, it may be connected to or directly disposed on another component, or there may be a central component at the same time; when a component is considered to be "connected to" another component, it may be directly connected to another component or there may be a central component at the same time.

[0034] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0035] In the related art, when the camera assembly is installed at a high position, a blind spot is often formed in the bottom area, that is, an area that cannot be covered by the camera. The blind spot may cause the loss of a large range of images near the bottom area, affecting the recognition of bottom obstacles and the corresponding avoidance mechanism.

[0036] Based on this, the applicant conducted in-depth research to solve the problem that the visual module of the mowing device has a large low-level blind spot, so as to form the technical solution of the present application.

[0037] Please refer to Figure 7 The utility model proposes a mowing device 100 and an automatic mower 1000. The mowing device 100 can be detachably mounted on a self-moving device 200. The self-moving device 200 generates a predetermined mowing path based on the mowing area set by the user. The self-moving device 200 can be a mobile carrier such as a crawler vehicle or a wheeled vehicle that can have a mounting position for the mowing device 100. The self-moving device 200 and the mowing device 100 are combined to form an automatic mower 1000 to complete the automatic mowing work; the mowing device 100 is used to complete the mowing operation of a predetermined area along the predetermined path generated by the self-moving device 200 under the drive of the self-moving device 200.

[0038] The mowing device 100 has a vision module 20 to monitor the surrounding environment in real time, analyze the image through an image processing algorithm, identify obstacles and plan an obstacle avoidance route. The structure of the mowing device 100 in this application is described in detail below.

[0039] Please refer to the attached Figure 1 and attached Figure 4 The mowing device 100 provided by the utility model includes: a shell 10 and a visual module 20, the visual module 20 includes a camera assembly 21, the camera assembly 21 is installed on the shell 10, the height range of the center of the lens 2111 of the camera assembly 21 from the ground is 200mm to 300mm, the lens 2111 of the camera assembly 21 is inclined toward the ground, and the angle range between the central field of view 2112 of the lens 2111 and the ground is 8° to 15°.

[0040] The housing 10 refers to an external structure that surrounds the internal components and forms a receiving cavity, and its main function is to provide structural support and protection for the internal components of the mowing device 100 .

[0041] The visual module 20 includes but is not limited to the camera assembly 21, and other components involved in the visual function may be included. The central field of view 2112 of the lens 2111 refers to the ray extending from the center of the lens 2111 to the external environment. The setting of the height range between the center of the lens 2111 of the camera assembly 21 and the ground and the angle range between the central field of view 2112 of the lens 2111 and the ground fully considers the functional requirements and working environment of the mowing device 100, and is specifically described below:

[0042] First, the height range between the center of the lens 2111 of the camera assembly 21 and the ground is selected between 200mm and 300mm, mainly considering the following aspects: First, the camera assembly 21 is installed within this height range to ensure that it can effectively observe the bottom area without being too close to the ground, avoiding visual interference from the grass fragments thrown out by the bottom blade, which is conducive to the clarity and integrity of the recorded image. Second, installing the camera assembly 21 at an appropriate height can avoid unnecessary contact or collision with the ground, reduce the risk of damage, and extend the service life of the camera assembly 21. The specific height can be but is not limited to 220mm, 240mm, 250mm.

[0043] In addition, the angle between the central field of view 2112 of the lens 2111 of the camera assembly 21 and the ground is selected to be between 8° and 15°, that is, the degree of downward tilt of the camera assembly 21 is limited, which can reduce the low-level blind spot while not losing the necessary high-level environment monitoring, so that the mowing device 100 can integrate environmental information at different heights, which is conducive to accurate analysis of obstacle avoidance. In one embodiment, the acute angle formed by the installation plane of the camera assembly 21 and the ground is 11°.

[0044] Therefore, the mowing device 100 provided by itself is conducive to the camera component 21 to provide a larger range of low-level environmental impact, ensuring that the recorded image is not blocked by broken grass. The obstacle avoidance mechanism applied can enable the mowing device 100 to avoid collision during operation, thereby improving the safety of the mowing device 100.

[0045] Please refer to the attached Figure 2 In some embodiments, the housing 10 includes a first shell 11 and a second shell 12 , the visual module 20 is disposed in the second shell 12 , and the second shell 12 can be detachably mounted on the first shell 11 .

[0046] Specifically, the first shell 11 has a mounting position for installing the second shell 12, so that the second shell 12 can be detachably connected to the first shell 11. The visual module 20 is arranged in the second shell 12. According to the needs, multiple second shells 12 can be arranged in different directions of the first shell 11. For example, a second shell 12 equipped with a visual module 20 can be arranged on the front and both sides of the first shell 11, so that the mowing device 100 can monitor the working environment from multiple directions, thereby improving the reliability of the obstacle avoidance mechanism. The combined shell 10 can provide convenience during production and maintenance. When the visual module 20 is damaged, there is no need to disassemble the shell 10 as a whole for repair and replacement, which avoids complex manual operations and helps to reduce labor costs and material costs.

[0047] Please see attached Figure 3 In some embodiments, the second shell 12 is provided with a countersunk hole 122 , and the second shell 12 is screwed to the first shell 11 through the mounting portion 1221 of the countersunk hole 122 , and the opening of the non-mounting portion 1222 of the countersunk hole 122 is provided with a waterproof plug 123 .

[0048] The two ends of the countersunk hole 122 correspond to the mounting portion 1221 and the non-mounting portion 1222, respectively. During the installation of the second housing 12, the screws penetrate from the non-mounting portion 1222 close to the outside to the mounting portion 1221, and fasten the second housing 12 to the corresponding position of the first housing 11 through the through hole of the mounting portion 1221. The opening of the non-mounting portion 1222 of the countersunk hole 122 is provided with a waterproof plug 123. On the one hand, the waterproof plug 123 can isolate most of the moisture from reacting with the connecting screws to prevent the screws from rusting. On the other hand, the waterproof plug 123 can prevent moisture from entering the interior of the housing 10 and damaging the internal components, which is conducive to reducing maintenance costs and enables the device to operate stably in a humid or rainy environment.

[0049] Please refer to the attached Figure 4 and attached Figure 5 In some embodiments, the camera assembly 21 includes a camera body 211 and a frame 212 , and the frame 212 has an inner cavity for accommodating the camera body 211 .

[0050] As a part of the camera assembly 21, the frame 212 mainly provides protection for the camera body 211. The frame 212 is provided with an inner cavity to accommodate the camera body 211, which can isolate the external environment and protect the camera body 211; in addition, the frame 212 can also reduce the vibration generated by the operation of the mowing device 100, which is conducive to ensuring the quality of the image recorded by the camera body 211, thereby improving the reliability of the obstacle avoidance mechanism.

[0051] In some embodiments, the frame 212 is a metal frame 212 .

[0052] The metal frame 212 generally has good rigidity, and can effectively protect the camera body 211 from direct impact from the outside of the frame 212. In addition, the metal frame 212 has good heat dissipation performance, and can effectively disperse the heat generated by the camera body 211 to the external environment, thereby avoiding damage to the camera body 211 caused by overheating, and is conducive to extending the service life of the camera body 211.

[0053] Please continue to refer to the attached Figure 5 In some embodiments, the frame 212 has a first through hole 2121, the camera body 211 is at least partially embedded in the first through hole 2121, a waterproof rubber ring 213 is provided between the camera body 211 and the first through hole 2121, and waterproof glue is poured inside the frame 212.

[0054] The waterproof rubber ring 213 provided between the camera body 211 and the frame 212 can improve the waterproof performance of the camera assembly 21. The waterproof rubber ring 213 can prevent water and moisture from entering the frame 212, thereby preventing moisture from damaging the camera body 211 or affecting the quality of the recorded images. The waterproof glue poured into the frame 212 further improves the waterproof performance of the camera assembly 21, especially for the electronic boards of the camera assembly 21, preventing the electronic components from being damaged by water intrusion, and ensuring the stable operation of the camera assembly 21. In addition, the camera body 211 is partially embedded in the first through hole 2121, and combined with the sealing effect of the waterproof rubber ring 213, the tightness between the camera body 211 and the frame 212 can be enhanced to avoid loosening or displacement during movement or vibration, thereby ensuring that the camera body 211 is stably fixed inside the frame 212.

[0055] Please refer to the attached Figure 5 The visual module 20 includes a transparent lens 22 and a heat-insulating sheet 23 . The second shell 12 is provided with a second through hole 121 adapted to the transparent lens 22 . The transparent lens 22 is installed in the second through hole 121 . The heat-insulating sheet 23 is located between the lens 2111 and the transparent lens 22 .

[0056] The transparent lens 22 is installed in the second through hole 121 adapted thereto, and can protect the lens 2111 of the camera assembly 21 from scratches or stains, and maintain a clear field of vision. The heat-insulating sheet 23 can be made of a material with good heat-insulating properties and high temperature resistance, such as silica gel. A through hole can be provided in the center of the heat-insulating sheet 23, and the lens 2111 can record the external environment through the through hole to meet the functional requirements of monitoring.

[0057] The function of the heat shield 23 is to isolate the heat of the camera assembly 21 and avoid a large temperature difference between the inner and outer surfaces of the transparent lens 22. For example, when the operator flushes the grass clippings remaining on the surface of the mowing device 100, the temperature of the transparent lens 22 close to the outside drops rapidly, while the inner side is close to the camera assembly 21. The camera assembly 21 emits heat during operation. This temperature difference easily causes fog to form on the inner side of the transparent lens 22. The heat shield 23 isolates part of the heat from the camera assembly 21 on the inner side of the transparent lens 22, thereby reducing the temperature difference between the inner and outer sides of the transparent lens 22, avoiding the generation of fog, and helping to maintain the clarity of the visual module 20.

[0058] Please refer to the attached Figure 6 In some embodiments, the visual module 20 further includes a lighting assembly 24 for providing a light source for the camera assembly 21 . The lighting assembly 24 includes a light board 241 and an outer lamp cover 242 . The outer lamp cover 242 is used to scatter the light emitted by the light board 241 .

[0059] The lighting assembly 24 provides light for the camera assembly 21, especially for supplementary lighting at night. The light board 241 provides a light source, and the outer lampshade 242 scatters the light emitted by the light board 241. The outer lampshade 242 is made of a material that can scatter the light source, such as organic glass, polycarbonate and other materials. The outer lampshade 242 of this material turns the strong light emitted by the light board 241 into soft and uniform light, which helps to improve the quality of shooting and avoid the adverse effects of glare on pedestrians. In addition, the outer lampshade 242 can also reduce the direct contact of the external environment with the light board 241, thereby protecting the light board 241.

[0060] In some embodiments, the lighting assembly 24 further includes an inner lampshade 243 , which is located between the lamp panel 241 and the outer lampshade 242 , and the outer surface of the inner lampshade 243 has a brightness enhancement layer.

[0061] The brightening coating can be obtained by electroplating or deposition. In one embodiment, metal chromium is selected as the material of the brightening coating, and the metal chromium is attached to the outer surface of the inner lampshade 243 by electroplating to enhance the reflection of light and improve the lighting effect. The inner lampshade 243 is located between the lamp board 241 and the outer lampshade 242. The light source emitted by the lamp board 241 is fully reflected by the brightening layer of the inner lampshade 243, so that the light distribution is uniform and the brightness is enhanced. The brightened light is scattered in the outer lampshade 242, and finally emits bright soft light, which is conducive to optimizing the imaging effect of the camera assembly 21.

[0062] Please refer to the attached Figure 7The utility model also proposes an automatic lawn mower 1000, comprising a self-moving device 200 and the above-mentioned mowing device 100; the mowing device 100 is arranged on the self-moving device 200, and the mowing device 100 can complete the mowing operation of a preset area under the drive of the self-moving device 200.

[0063] The self-moving device 200 is a flexible mobile body, which can adopt a variety of designs, such as a crawler car, a wheeled car, etc. This body has good maneuverability and adaptability, and can move freely under different terrains and environmental conditions. The self-moving device 200 is equipped with the mowing device 100 described in the above embodiment, and the mowing device 100 can efficiently clean the lawn in front under the drive of the self-moving device 200. Such a design enables the automatic lawn mower 1000 to have the ability to independently complete the mowing task, reduce manpower input, and enable the mowing task to be completed quickly and efficiently in different scenarios. In the description of the utility model, it should be understood that the terms "length", "width", "depth", "upper", "lower", etc. indicate the orientation or position relationship based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the utility model. Terms such as "installation" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, an integral connection, or a transmission connection; it can be a direct connection, or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in this utility model can be understood according to specific circumstances.

[0064] In addition, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as specific or special structures. The description of the term "some embodiments" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In the present utility model, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in the present utility model and the features of different embodiments or examples without contradiction.

[0065] The above implementation modes are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned implementation modes, a person skilled in the art should understand that the technical solutions described in the aforementioned implementation modes can still be modified, or some of the technical features can be replaced by equivalents. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various implementation modes of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A mowing device, characterized in that: include: shell; A visual module, wherein the visual module comprises a camera assembly, wherein the camera assembly is mounted on the housing, wherein the height range of the center of the lens of the camera assembly from the ground is 200 mm to 300 mm, the lens of the camera assembly is tilted toward the ground, and the angle range between the central field of view of the lens and the ground is 8° to 15°.

2. The mowing device according to claim 1, characterized in that: The housing includes a first shell and a second shell, the visual module is arranged in the second shell, and the second shell can be detachably installed on the first shell.

3. The mowing device according to claim 2, characterized in that: The second shell is provided with a countersunk hole, and the second shell is screwed to the first shell through the mounting portion of the countersunk hole, and a waterproof plug is provided at the opening of the non-mounting portion of the countersunk hole.

4. The mowing device according to claim 1, characterized in that: The camera assembly comprises a camera body and a frame, wherein the frame has an inner cavity for accommodating the camera body.

5. The mowing device according to claim 4, characterized in that: The frame is a metal frame.

6. The mowing device according to claim 4, characterized in that: The frame has a first through hole, the camera body is at least partially embedded in the first through hole, a waterproof rubber ring is provided between the camera body and the first through hole, and waterproof glue is poured into the interior of the frame.

7. The mowing device according to claim 2, characterized in that: The visual module includes a transparent lens and a heat-insulating sheet. The second shell is provided with a second through hole adapted to the transparent lens. The transparent lens is installed in the second through hole. The heat-insulating sheet is located between the lens and the transparent lens.

8. The mowing device according to any one of claims 1 to 7, characterized in that: The visual module also includes a lighting component for providing a light source for the camera component. The lighting component includes a light board and an outer lamp cover. The outer lamp cover is used to scatter the light emitted by the light board.

9. The mowing device according to claim 8, characterized in that: The lighting assembly further comprises an inner lampshade, which is located between the lamp panel and the outer lampshade, and the outer surface of the inner lampshade has a brightness enhancement layer.

10. An automatic lawn mower, characterized in that: It comprises a self-moving device and a mowing device as claimed in any one of claims 1 to 9; the mowing device is arranged on the self-moving device, and the mowing device can complete the mowing operation of a preset area under the drive of the self-moving device.

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