Composite sensing device and mowing robot

Abstract

The utility model belongs to the field of mowing equipment, and particularly provides a composite sensing device and a mowing robot, the composite sensing device comprises a composite shell, a front sensing assembly and a side sensing assembly, the composite shell forms a first accommodating space and a second accommodating space; the front sensing assembly is arranged in the first accommodating space and is used for detecting front environment information; and the side sensing assembly is arranged in the second accommodating space and is used for detecting environment information of the side. The front sensing assembly and the side sensing assembly are mounted on the same composite shell to form an integrated sensing module, so that the convenience and matching universality of the sensing module and external equipment in disassembly and maintenance are improved, the disassembly and maintenance efficiency of the composite sensing device is effectively improved, and the service life of the composite sensing device is prolonged. And the structure compactness and miniaturization of the sensing module are facilitated.

Description

Technical Field

[0001] The present application belongs to the technical field of lawn mowing equipment, and more specifically, to a composite sensing device and a lawn mowing robot. Background Art

[0002] During the working process, the lawn mowing robot needs to detect the external environmental information in order to carry out effective walking path planning. The existing lawn mowing robots generally obtain images of the environmental information through multiple sensors, but these sensors are generally installed separately on the machine body, and the disassembly and assembly efficiency of the sensors and the machine body is low. In addition, the scattered installation of these sensors is not conducive to the compactness of the overall structure of the lawn mowing robot. Utility Model Content

[0003] The purpose of the present application is to provide a composite sensor device and a lawn mowing robot to solve the technical problems in the prior art that the efficiency of disassembling and assembling the sensor device and the machine body is low, which is not conducive to the compactness of the overall structure.

[0004] To achieve the above purpose, the technical solution adopted in this application is:

[0005] In one aspect, a composite sensing device is provided, the composite sensing device comprising:

[0006] A composite shell, wherein the composite shell forms a first accommodation space and a second accommodation space;

[0007] A front sensor component, which is disposed in the first accommodation space and is used to detect environmental information in front;

[0008] A side sensor component is disposed in the second accommodation space and is used to detect side environmental information.

[0009] As an implementation manner, the composite shell includes a first shell, a second shell and a third shell, the first shell and the second shell form the first accommodating space, and the second shell and the third shell form the second accommodating space.

[0010] As an implementation manner, the second shell has a first surface and a second surface that are oppositely disposed, the first surface and the first shell form the first accommodating space, and the second surface and the third shell form the second accommodating space.

[0011] As an embodiment, the third shell includes a accommodating shell and a connecting shell, one end of the connecting shell is connected to the accommodating shell, and the other end of the connecting shell is connected to the second surface, the side sensing assembly includes a side sensor and an electrical connecting line, the side sensor is arranged in the accommodating shell, and the electrical connecting line is passed through the connecting shell.

[0012] As an implementation manner, the second shell is provided with a first opening, and the first accommodating space is communicated with the second accommodating space through the first opening.

[0013] As an embodiment, a control circuit board is also provided in the first accommodating space, and the side sensing assembly includes a side sensor and an electrical connection line, one end of the electrical connection line is electrically connected to the side sensor, and the other end of the electrical connection line passes through the first opening and is electrically connected to the control circuit board.

[0014] As an embodiment, the side wall of the first shell is provided with a first optical window and a first cleaning component, and the first cleaning component is used to clean the first optical window, or / and, the third shell is provided with a second optical window and a second cleaning component, and the second cleaning component is used to clean the second optical window.

[0015] As an implementation manner, the front sensing component is located on the central axis of the composite sensing device, and the side sensing component is located on one side of the central axis.

[0016] As an implementation manner, the distance between the front sensor assembly and the front end of the composite shell is smaller than the distance between the side sensor assembly and the front end of the composite shell.

[0017] As an embodiment, the front sensing component includes at least one of a monocular camera, a multi-camera, a laser radar, an ultrasonic sensor, and a millimeter-wave radar, and the side sensing component includes at least one of a laser radar, a monocular camera, and a fisheye camera.

[0018] As an implementation manner, the detection space of the front sensor assembly and the detection space of the side sensor assembly intersect.

[0019] As an implementation manner, the horizontal field of view angle of the front sensor component is smaller than the horizontal field of view angle of the side sensor component.

[0020] As an embodiment, the horizontal field of view angle of the front sensor component is 90 degrees to 130 degrees; and / or the horizontal field of view angle of the side sensor component is 110 degrees to 150 degrees.

[0021] As an implementation manner, a vertical field of view angle of the front sensing component is smaller than a vertical field of view angle of the side sensing component.

[0022] As an embodiment, the vertical field of view angle of the front sensing component is between 70 degrees and 100 degrees; and / or the vertical field of view angle of the side sensing component is between 100 degrees and 150 degrees.

[0023] As an embodiment, the horizontal field of view angle of the front sensor assembly is greater than the vertical field of view angle of the front sensor assembly;

[0024] And / or, the horizontal field of view angle of the side sensor assembly is greater than the vertical field of view angle of the side sensor assembly.

[0025] On the other hand, a lawn mowing robot is provided, the lawn mowing robot comprising:

[0026] a machine body, the machine body being movable on a work surface;

[0027] A sensor device is installed on the machine body, and the sensor device adopts the above-mentioned composite sensor device.

[0028] As an embodiment, the installation height of the front sensor assembly on the machine body is greater than the installation height of the side sensor assembly on the machine body.

[0029] As an implementation manner, the installation height difference between the front sensor assembly and the side sensor assembly is greater than 50 mm.

[0030] As an embodiment, the detection direction of the front sensing component is tilted downward, and there is a first angle between the detection direction and the working surface. The detection direction of the side sensing component is tilted downward, and there is a second angle between the detection direction and the working surface, wherein the first angle is smaller than the second angle.

[0031] As an implementation manner, the detection space of the front sensing component and the working surface have at least a first intersection line, and the distance between the first intersection line and the front end of the machine body is between 0 mm and 180 mm.

[0032] As an embodiment, the detection space of the side sensor assembly has at least a second intersection line with the working surface, and the distance between the second intersection line and the outer edge surface of the side of the machine body is between -20 mm and 20 mm.

[0033] As an embodiment, the machine body includes a main frame, a moving mechanism and an upper shell, the moving mechanism is arranged at the bottom of the main frame, the upper shell is floatingly connected to the main frame, and the composite sensor device is installed on the upper shell.

[0034] As an embodiment, a first mounting hole is opened at the front end of the upper shell, a second mounting hole is opened at at least one side of the upper shell, the front sensor component is embedded in the first mounting hole, and the side sensor component is embedded in the second mounting hole.

[0035] As an implementation manner, when the second mounting holes are provided on both sides of the upper shell, the second mounting holes are symmetrically arranged on both sides of the upper shell.

[0036] The composite sensing device and lawn mowing robot provided by the present application have the following beneficial effects:

[0037] First, by installing the front sensor component and the side sensor component on the same composite shell, and using the front sensor component and the side sensor component to detect the front and the side, the composite sensor device forms an independent sensor module that can detect multiple different directions at the same time, so that the composite sensor device can independently meet the positioning and walking planning requirements of the external device. This integrated sensor module design can, on the one hand, improve the convenience and matching versatility of the disassembly and maintenance of the sensor module and the external device, and improve the disassembly and maintenance efficiency of the composite sensor device. On the other hand, it can be conducive to the compactness and miniaturization of the structure of the sensor module. On the other hand, by installing the front sensor component in the first accommodating space and the side sensor component in the second accommodating space, the front sensor component and the side sensor component can be effectively prevented from colliding with the external environment, thereby improving the safety of the front sensor component and the side sensor component, and helping to improve the service life of the front sensor component and the side sensor component.

[0038] Secondly, by arranging the sensor device on the machine body, it is possible to achieve effective positioning and walking planning of the machine body, and to improve the convenience of disassembly and assembly of the machine body and the sensor device, thereby improving the overall assembly efficiency and maintenance efficiency of the lawn mowing robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present application, 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 of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0040] Figure 1 A three-dimensional schematic diagram of a composite sensor device provided in an embodiment of the present application;

[0041] Figure 2 A three-dimensional schematic diagram of a composite sensor device provided in an embodiment of the present application (the first housing is not shown);

[0042] Figure 3 A three-dimensional schematic diagram of a second housing provided in an embodiment of the present application;

[0043] Figure 4 A schematic diagram of assembling the third housing, the side sensor assembly, and the second cleaning assembly provided in an embodiment of the present application;

[0044] Figure 5 for Figure 1 A partial enlarged view of position A shown;

[0045] Figure 6 A three-dimensional diagram of a lawn mowing robot provided in an embodiment of the present application Figure 1 ;

[0046] Figure 7 A top view of the lawn mowing robot provided in an embodiment of the present application;

[0047] Figure 8 A side view of a lawn mowing robot provided in an embodiment of the present application;

[0048] Fig. 9 A three-dimensional diagram of a lawn mowing robot provided in an embodiment of the present application Figure 2 ;

[0049] Fig.10 A three-dimensional schematic diagram of an upper shell provided in an embodiment of the present application;

[0050] Fig.11 Schematic diagram of the installation parameters of the front sensor assembly provided in the embodiment of the present application Figure 1 ;

[0051] Fig.12 A schematic diagram of overall installation parameters of the side sensor assembly and the front sensor assembly provided in an embodiment of the present application;

[0052] Fig.13 Schematic diagram of the installation parameters of the front sensor assembly provided in the embodiment of the present application Figure 2 ;

[0053] Fig.14 A schematic diagram of installation parameters of a side sensor assembly provided in an embodiment of the present application;

[0054] Fig.15 A side view of a composite sensing device provided in an embodiment of the present application;

[0055] Fig.16 for Fig.15 A cross-sectional view in the direction BB is shown;

[0056] Fig.17 A three-dimensional schematic diagram of a partial structure of a composite shell provided in an embodiment of the present application.

[0057] Among them, the reference numerals in the figure are:

[0058] 100. Composite sensor device;

[0059] 1. Composite shell; 11. First shell; 111. Front side wall; 112. Cleaning bracket; 113. Top plate; 114. First detection port; 12. Second shell; 121. First surface; 122. Second surface; 123. First opening; 124. Groove; 13. Third shell; 131. Accommodating shell; 132. Connecting shell; 133. Shell seat; 134. Second detection port; 14. First accommodating space; 15. Second accommodating space;

[0060] 2. Front sensing component; 21. Front sensor; 211. First camera; 212. Second camera; 22. Sensing bracket; 23. Fill light;

[0061] 3. Side sensor assembly; 31. Side sensor;

[0062] 4. Control circuit board;

[0063] 5. The first optical window;

[0064] 6. First cleaning component; 61. First swinging member; 62. First scraping member;

[0065] 7. Second optical window;

[0066] 8. Second cleaning component; 81. Second swinging member; 82. Second scraping member;

[0067] 200, machine body; 201, main frame; 202, moving mechanism; 203, upper shell; 2031, first mounting hole; 2032, second mounting hole; 204, cutting mechanism;

[0068] 300, working surface; 400, intersection. DETAILED DESCRIPTION

[0069] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0070] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0071] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application 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 application.

[0072] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0073] The present application embodiment provides a composite sensor device 100, such as Figure 1 , Figure 6 , Fig.15 and Fig.16 As shown, the composite sensor device 100 includes a composite shell 1, a front sensor component 2 and a side sensor component 3. The composite shell 1 forms a first accommodating space 14 and a second accommodating space 15. The front sensor component 2 is arranged in the first accommodating space 14 for detecting the environmental information in front; the side sensor component 3 is arranged in the second accommodating space 15 for detecting the environmental information on the side.

[0074] Specifically, by installing the front sensor component 2 and the side sensor component 3 on the same composite shell 1, and using the front sensor component 2 and the side sensor component 3 to detect the front and the side, the composite sensor device 100 forms an independent sensor module that can detect multiple different directions at the same time, so that the composite sensor device 100 can independently meet the positioning and walking planning requirements of the external device. This integrated sensor module design can, on the one hand, improve the convenience and matching versatility of the disassembly and maintenance of the sensor module and the external device, and improve the disassembly and maintenance efficiency of the composite sensor device 100. On the other hand, it can be conducive to the compactness and miniaturization of the structure of the sensor module. On the other hand, by installing the front sensor component 2 in the first accommodating space 14 and the side sensor component 3 in the second accommodating space 15, the front sensor component 2 and the side sensor component 3 can be effectively prevented from colliding with the external environment, thereby improving the safety of the front sensor component 2 and the side sensor component 3, and helping to improve the service life of the front sensor component 2 and the side sensor component 3.

[0075] In some embodiments, the front sensing component is mainly responsible for detecting the environmental information directly in front of the external device, and using the detected environmental information for mapping, positioning and obstacle avoidance; the side sensing component is mainly responsible for detecting the environmental information on the side of the external device, and using the detected environmental information to identify the boundaries of the area.

[0076] In one embodiment, the composite shell 1 includes a front portion and a rear portion that are arranged opposite to each other, and a left portion, a right portion, an upper portion, and a lower portion that are arranged adjacent to the front portion. The front sensor assembly 2 and the side sensor assembly 3 can be arranged together at the front portion; or, the front sensor assembly 2 is arranged at the front portion, and the side sensor assembly 3 is arranged at the rear portion; or, the front sensor assembly 2 is arranged at the front portion, and the side sensor assembly 3 is arranged at the left portion and the right portion respectively; or, the front sensor assembly 2 is arranged at the front portion, and the side sensor assembly 3 is arranged at the upper portion or the lower portion.

[0077] As an implementation method, Figure 1 and Fig.16 As shown, the composite shell 1 includes a first shell 11, a second shell 12 and a third shell 13. The first shell 11 and the second shell 12 form a first accommodating space 14, and the second shell 12 and the third shell 13 form a second accommodating space 15. The first accommodating space 14 and the second accommodating space 15 are arranged on both sides of the second shell 12, or the first accommodating space 14 and the second accommodating space 15 are arranged on one side of the second shell 12.

[0078] Specifically, the first shell 11, the second shell 12 and the third shell 13 are enclosed to form a first accommodating space 14 and a second accommodating space 15, and the front sensor component 2 and the side sensor component 3 are respectively arranged in the first accommodating space 14 and the second accommodating space 15, which can facilitate the modular assembly of the composite sensor device 100, thereby helping to improve the convenience of disassembly, assembly and maintenance of the composite sensor device 100, and improve the assembly efficiency of the composite sensor device 100.

[0079] In one embodiment, if Figure 1 As shown, the first shell 11 is arranged on the top of the second shell 12, and the third shell 13 is arranged on the bottom of the second shell 12. Of course, in other embodiments, it can also be designed that: the first shell and the third shell are both arranged on the top of the second shell or the bottom of the second shell.

[0080] In some embodiments, when there are two side sensor assemblies 3 , the number of third shells 13 is two, the two third shells 13 are symmetrically arranged on the second shell 12 , and each third shell 13 is installed with a side sensor assembly 3 .

[0081] In one embodiment, if Figures 1 to 3 , Fig.17As shown, the second shell 12 has a first surface 121 and a second surface 122 that are oppositely disposed. The first surface 121 and the first shell 11 form a first accommodating space 14 , and the second surface 122 and the third shell 13 form a second accommodating space 15 .

[0082] Specifically, the first accommodating space 14 and the second accommodating space 15 are isolated by the second shell 12, which can not only achieve effective isolation of the first accommodating space 14 and the second accommodating space 15, but also make the first accommodating space 14 and the second accommodating space 15 as close as possible, thereby helping to improve the compactness of the composite sensor device 100.

[0083] In one embodiment, if Figure 1 and Figure 4 , Fig.16 As shown, the third shell 13 includes a accommodating shell 131 and a connecting shell 132, one end of the connecting shell 132 is connected to the accommodating shell 131, and the other end of the connecting shell 132 is connected to the second surface 122, and the side sensing assembly 3 includes a side sensor 31 and an electrical connecting line, the side sensor 31 is arranged in the accommodating shell 131, and the electrical connecting line is passed through the connecting shell 132.

[0084] Specifically, the electrical connection line connected to the side sensor 31 passes through the connecting shell 132 and communicates with the first accommodating space 14, so that the side sensor 31 and the electrical connection line are completely hidden in the third shell 13, thereby making the structure of the third shell 13 both neat and beautiful, and safe and reliable.

[0085] In one embodiment, if Figure 2 As shown, a control circuit board 4 is further provided in the first accommodation space 14 , one end of the electrical connection line is electrically connected to the side sensor 31 , and the other end of the electrical connection line passes through the first opening 123 and is electrically connected to the control circuit board 4 .

[0086] Specifically, by setting up a control circuit board 4, the front sensor component 2 and the side sensor component 3 can be detected and controlled, so that the composite sensor device 100 forms a sensor module with independent computing capabilities, so that the composite sensor device 100 can be quickly matched with different devices for use, thereby improving the versatility of the composite sensor device 100.

[0087] In one embodiment, the control circuit board 4 is installed in the first accommodating space 14, and the control circuit board 4 is located below the front sensor component 2. This design allows the control circuit board 4 to be located between the front sensor component 2 and the side sensor component 3, thereby making the distance between the control circuit board 4 and the front sensor component 2 and the side sensor component 3 smaller, thereby helping to simplify the connection routing between the control circuit board 4 and the front sensor component 2 and the side sensor component 3.

[0088] In one embodiment, a wireless transmission module is provided on the control circuit board 4, and the control circuit board 4 is connected to the external controller through the wireless transmission module. Of course, in other embodiments, it can also be designed that: any one of the first shell 11, the second shell 12 and the third shell 13 is provided with an external connection hole, and the control circuit board 4 is connected with a signal connection line, and the signal connection line passes through the external connection hole to communicate with the external controller. In one embodiment, Figure 1 , Figure 4 and Fig.17 As shown, the third shell 13 also includes a shell seat 133, which is arranged at one end of the connecting shell 132 away from the accommodating shell 131. A groove 124 is arranged at the bottom of the second shell 12, and the shell seat 133 is embedded in the groove 124, so that the connecting shell 132 is fixedly installed on the second surface 122 of the second shell 12.

[0089] In one embodiment, if Figure 2 and Figure 3 As shown, the second shell 12 is provided with a first opening 123 , and the first accommodating space 14 is connected with the second accommodating space 15 through the first opening 123 , so that the electrical connection line connected to the side sensor 31 can pass through the first opening 123 to connect with the control circuit board 4 .

[0090] Specifically, this design allows the components and related wiring to be completely located inside the first accommodating space 14 and the second accommodating space 15, and the electrical connecting wires do not need to pass through the outside of the first shell 11, the second shell 12 and the third shell 13, thereby avoiding leakage of the wiring, helping to improve the safety of the wiring, and helping to improve the reliability of the composite sensor device 100.

[0091] In one embodiment, if Figure 2 As shown, the front sensor assembly 2 includes a front sensor 21 and a sensor bracket 22, one end of the sensor bracket 22 is fixed to the second housing 12, and the front sensor 21 is arranged at one end of the sensor bracket 22 away from the second housing 12. Specifically, in some embodiments, the first housing 11 is a plastic part, and the second housing 12 is a metal part. Therefore, by providing the sensor bracket 22, the connection between the front sensor 21 and the second housing 12 can be achieved, so that the heat of the front sensor 21 when working can be directly transferred to the second housing 12, effectively improving the heat dissipation efficiency, thereby facilitating the improvement of the working reliability and service life of the composite sensor device 100.

[0092] In one embodiment, if Figure 1 , Figure 2 and Fig.17As shown, the first shell 11 includes a front side wall 111, the front side wall 111 is located in front of the first shell 11, the front side wall 111 is provided with a first detection port 114, the front sensor 21 is embedded in the first detection port 114, the sensor bracket 22 is arranged at one end of the first surface 121 of the second shell 12 close to the front side wall 111, and the sensor bracket 22 is spaced apart from the front side wall 111. In some embodiments, the sensor bracket 22 is arranged vertically, and the front sensor 21 is arranged on one side of the sensor bracket 22 close to the front side wall 111.

[0093] In one embodiment, if Figure 2 As shown, the front sensor 21 includes a first camera 211 and a second camera 212, and the first camera 211 and the second camera 212 are horizontally spaced apart and arranged at two ends of the sensor bracket 22. Specifically, the first camera 211 and the second camera 212 are formed as binocular cameras, which can be used for positioning of external equipment and obstacle recognition, so as to improve the walking reliability of the external equipment.

[0094] In one embodiment, if Figure 2 As shown, the front sensor assembly also includes a fill light 23, which is used to illuminate the binocular camera to improve the imaging quality of the binocular camera. The fill light 23 is arranged on the sensor bracket 22 and is located between the first camera 211 and the second camera 212.

[0095] In one embodiment, if Figure 1 and Figure 5 As shown, the composite sensing device 100 further includes a first optical window 5 and a first cleaning component 6, which are arranged on the side wall of the first housing 11, the first optical window 5 covers the first detection port 114, one end of the first cleaning component 6 is located in the first accommodating space 14 and is arranged in the first housing 11, and the other end of the first cleaning component 6 extends to the outside of the first housing 11, and the first cleaning component 6 can clean the first optical window 5. By providing the first optical window 5 and the first cleaning component 6 to clean the first optical window 5, on the one hand, the first optical window 5 can be used to reliably protect the front sensor 21, so as to avoid the front sensor 21 from colliding with the external environment and being damaged, thereby helping to improve the service life of the front sensing component 2, and on the other hand, the cleanliness of the first optical window 5 can be improved, so as to avoid the factors of non-real environmental information from affecting the detection results, thereby helping to improve the detection reliability of the front sensing component 2.

[0096] In one embodiment, if Figure 1 , Figure 2 and Figure 5As shown, the number of the first cleaning components 6 is two, and the two first cleaning components 6 are located on both sides of the front sensor 21, wherein one of the first cleaning components 6 is used to clean the position of the first optical window 5 corresponding to the first camera 211, and the other first cleaning component 6 is used to clean the position of the first optical window 5 corresponding to the second camera 212. Specifically, by providing two first cleaning components 6, the first cleaning components 6 correspond to the two cameras one by one, thereby effectively improving the cleaning effect of the first optical window 5, thereby ensuring the detection reliability of the binocular camera. In some embodiments, the two first cleaning components 6 are respectively located on the left and right sides of the front sensor 21, and the two first cleaning components 6 are symmetrically arranged.

[0097] like Figure 1 , Figure 4 and Fig.17 As shown, the composite sensing device 100 further includes a second optical window 7 and a second cleaning component 8, the second optical window 7 and the second cleaning component 8 are arranged on the third housing 13, a second detection port 134 is arranged on the accommodating shell 131, the second optical window 7 covers the second detection port 134, one end of the second cleaning component 8 is located in the second accommodating space 15 and is arranged on the third housing 13, the other end of the second cleaning component 8 extends to the outside of the third housing 13, and the second cleaning component 8 can clean the second optical window 7. By providing the second optical window 7 and the second cleaning component 8 to clean the second optical window 7, on the one hand, the second optical window 7 can be used to reliably protect the side sensor 31, so as to avoid the side sensor 31 from colliding with the external environment and being damaged, thereby helping to improve the service life of the side sensor 31, and on the other hand, the cleanliness of the second optical window 7 can be improved, so as to avoid the factors of non-real environmental information from affecting the detection results, thereby helping to improve the detection reliability of the side sensing component.

[0098] Specifically, by setting the first cleaning component 6 to clean the first optical window 5 and setting the second cleaning component 8 to clean the second optical window 7, on the one hand, the first optical window 5 and the second optical window 7 can be used to reliably protect the front sensor component 2 and the side sensor component 3, thereby preventing the front sensor component 2 and the side sensor component 3 from colliding with the external environment and being damaged, thereby helping to increase the service life of the front sensor component 2 and the side sensor component 3; on the other hand, the cleanliness of the first optical window 5 and the second optical window 7 can be improved, thereby preventing the factors of non-real environmental information from affecting the detection results, thereby helping to improve the detection reliability of the front sensor component 2 and the side sensor component 3.

[0099] In one embodiment, if Figure 1 , Figure 4 , Figure 5 and Figure 6As shown, the first optical window 5 is arranged on a side of the first shell 11 close to the front, and the second optical window 7 is arranged on a side of the third shell 13 close to the side.

[0100] In one embodiment, if Figure 2 As shown, the first shell 11 also includes a cleaning bracket 112, which is located in the first accommodating space 14, and the cleaning bracket 112 is arranged on the front side wall 111, and the first cleaning component 6 is installed on the cleaning bracket 112. Specifically, by providing a cleaning bracket 112 fixedly connected to the front side wall 111, and installing the first cleaning component 6 on the cleaning bracket 112, the heat of the first cleaning component 6 during operation is directly transferred to the first shell 11, and then the heat of the front sensor 21 is transferred to the second shell 12 to form a shunt, so that the heat is more dispersed, which is conducive to improving the heat dissipation efficiency, thereby greatly reducing the risk of overheating of the front sensor component and the first cleaning component, and helping to improve the working reliability and service life of the front sensor component and the first cleaning component.

[0101] In one embodiment, if Figure 1 and Figure 2 As shown, the first housing 11 also includes a top plate 113, and the upper end of the cleaning bracket 112 is connected to the top plate 113. In some embodiments, the cleaning bracket 112 is integrally formed with the front side wall 111 and the top plate 113, or the cleaning bracket 112 is connected to the front side wall 111 and the top plate 113 by bolts. Specifically, by connecting the cleaning bracket 112 to the top plate 113, the heat of the first cleaning component during operation can be directly transferred to the top plate 113 through the cleaning bracket 112, which helps to reduce the heat transferred to the front side wall 111, and then can more effectively disperse the heat and avoid heat concentration, thereby helping to improve the working reliability and service life of the composite sensor device.

[0102] In one embodiment, if Figure 1 and Figure 5 As shown, the first cleaning assembly 6 includes a first swinging member 61 and a first scraping member 62. The first swinging member 61 is mounted on the first housing 11, and the first scraping member 62 is disposed on the first swinging member 61. The first scraping member 62 abuts against the first optical window 5. The first swinging member 61 can drive the first scraping member 62 to swing to clean the first optical window 5. In some embodiments, the sweeping range of the first scraping member 62 is greater than the sensing range of the front sensing assembly 2 on the first optical window 5. Further, one end of the first swinging member 61 is disposed on the cleaning bracket 112, and the other end of the first swinging member penetrates the front side wall 111 and extends out of the first accommodating space 14. The first scraping member is disposed at one end of the first swinging member located outside the first accommodating space 14.

[0103] In one embodiment, if Figure 1and Figure 4 As shown, the second cleaning assembly 8 includes a second swinging member 81 and a second scraping member 82. The second swinging member 81 is mounted on the third housing 13. The second scraping member 82 is disposed on the second swinging member 81. The second scraping member 82 abuts against the second optical window 7. The second swinging member 81 can drive the second scraping member 82 to swing to clean the second optical window 7. In some embodiments, the sweeping range of the second scraping member 82 is greater than the sensing range of the side sensing assembly 3 on the second optical window 7.

[0104] In one embodiment, if Figure 7 As shown, the front sensor assembly 2 is located on the central axis of the composite sensor device 100, and the side sensor assembly 3 is located on one side of the central axis.

[0105] Specifically, by setting the front sensor component 2 on the central axis, because the composite sensor device 100 is symmetrical about the central axis, the calculation of coordinate transformation is more direct, which can help reduce the amount of calculation of the control circuit board 4, thereby helping to improve the detection efficiency of the composite sensor device 100.

[0106] In one embodiment, if Figure 7 As shown, the distance between the front sensor component 2 and the front end of the composite shell 1 is smaller than the distance between the side sensor component 3 and the front end of the composite shell 1. Since the front sensor component 2 is closer to the front end of the composite shell 1, it can reduce the shielding, so that it can more directly and sensitively capture and sense various environmental information in front of the composite shell 1. The side sensor component 3 is farther away from the front end of the composite shell 1, which can avoid excessive overlap or interference with the sensing range of the front sensor component 2, and when the front end of the composite shell 1 is hit, it can effectively reduce the direct impact force on the side sensor component 3, reducing the risk of damage or performance degradation caused by the collision.

[0107] In one embodiment, the front sensing component 2 includes at least one of a monocular camera, a multi-camera, a laser radar, an ultrasonic sensor, and a millimeter-wave radar, and the side sensing component 3 includes at least one of a laser radar, a monocular camera, and a fisheye camera.

[0108] In one embodiment, the front sensing component 2 also includes an inertial sensor, and the binocular camera includes a first camera 211 and a second camera 212, and the inertial sensor is arranged at the midpoint of the line connecting the first camera 211 and the second camera 212. Specifically, on the one hand, by setting the inertial sensor, the angle change of the binocular camera can be sensed in real time, and then the posture of the binocular camera can be judged in real time, which helps to improve the measurement accuracy and reliability of the binocular camera, and thus facilitates more accurate positioning and navigation; on the other hand, by setting the inertial sensor at the midpoint of the line connecting the first camera 211 and the second camera 212, the coordinate center of the map can be located at the center of the binocular camera, which helps to simplify the algorithm, reduce the amount of calculation, thereby improving the calculation efficiency and reducing the calculation burden of the system.

[0109] In one embodiment, if Figure 7 As shown, the detection space of the front sensor assembly 2 and the detection space of the side sensor assembly 3 have an intersection 400 .

[0110] Specifically, by allowing the detection space of the front sensor component 2 to intersect 400 with the detection space of the side sensor component 3, the front and sides of the external device can be detected uninterruptedly. On the one hand, blind spots in the intersection area of ​​the front and sides of the external device can be avoided, thereby improving the detection reliability of the environmental information in front of and on the sides of the external device. On the other hand, the environmental information in front of the external device and the environmental information on the sides can be spliced, and the spliced ​​image can be used to locate the external device, thereby achieving high-precision position recognition of the external device.

[0111] In one embodiment, the horizontal field of view angle of the front sensor assembly 2 is smaller than the horizontal field of view angle of the side sensor assembly 3 .

[0112] Specifically, on the one hand, the horizontal field of view of the front sensor component 2 is relatively small, which can prevent the image obtained by the front sensor component 2 from being excessively deformed due to the large field of view, thereby causing image distortion, so that the composite sensor device 100 can more accurately identify the detailed features of the obstacle, such as the shape, size and color of the obstacle, etc. This information can help the external device better determine how to avoid the obstacle, ensure the reliability of detection, and improve the accuracy and stability of obstacle avoidance. On the other hand, the side sensor component 3 is mainly used for auxiliary positioning and boundary recognition, and has lower requirements for the specific feature recognition of the obstacle. Therefore, the horizontal field of view of the side sensor component 3 is relatively large, which can make the side sensor component 3 have a wider detection range in the horizontal direction, so that the side sensor component 3 can cover more areas on the side of the machine body 200, which helps to reduce the detection blind area on the side of the machine body 200.

[0113] In one embodiment, the horizontal field of view of the front sensor assembly 2 is 90 degrees to 130 degrees. Fig.11 As shown, since the width of the machine body 200 is 175mm to 375mm, the forward speed of the machine body 200 is 0.35m / s, and the braking time of the machine body 200 is 0.5s, in order to avoid the machine body 200 from colliding with the detected obstacles, the safe braking distance is not less than 175mm when the acceleration is ignored. That is, the front sensor component 2 needs to detect obstacles more than 175mm in front of the machine body 200. Therefore, the detection space of the front sensor component 2 at a position 175mm in front of the machine body 200 needs to cover the width of the machine body 200 so that the obstacles on the forward route of the machine body 200 can be fully detected. Under this design requirement, the horizontal field of view of the front sensor component 2 is approximately 90 degrees to 130 degrees.

[0114] In one embodiment, the horizontal field of view of the side sensor assembly 3 is 110 degrees to 150 degrees. Fig.12 As shown, since the horizontal field of view angle of the front sensor component 2 is set to 90 degrees to 130 degrees, the distance between the side sensor component 3 and the front sensor component 2 in the forward direction is 94 mm, and the distance between the side sensor component 3 and the outer edge surface is 4 mm. In addition, the detection direction of the side sensor component 3 is tilted toward the forward direction. Based on the above design, the horizontal field of view angle of the side sensor component 3 needs to be set to 110 to 150 degrees, so that there are enough intersections in the detection spaces of the front sensor component 2 and the side sensor component 3 for calibration and repositioning.

[0115] In one embodiment, the vertical field of view angle of the front sensor assembly 2 is smaller than the vertical field of view angle of the side sensor assembly 3 .

[0116] Specifically, on the one hand, the vertical field of view of the front sensor component 2 is relatively small, which can prevent the image obtained by the front sensor component 2 from being excessively deformed due to the large field of view, thereby causing image distortion, so that the composite sensor device 100 can more accurately identify the detailed features of the obstacle, such as the shape, size and color of the obstacle, etc., which can help the external device better determine how to avoid the obstacle, ensure the reliability of detection, and improve the accuracy and stability of obstacle avoidance. On the other hand, the vertical field of view of the side sensor component 3 is relatively large, which can make the side sensor component 3 have a wider detection range in the vertical direction, thereby enabling the side sensor component 3 to reduce the probability of being blocked by tall grass and the like and unable to obtain environmental information, and enable the side sensor component 3 to better detect the area close to the side of the external device, which helps to reduce the detection blind area on the side of the external device, and helps to reduce the structural design difficulty of the installation layout of the side sensor component 3 on the external device.

[0117] In one embodiment, the vertical field of view of the front sensor assembly 2 is between 70 degrees and 100 degrees. Fig.13 As shown, since the installation height of the front sensor component 2 is 234 mm, the first angle between the detection direction of the front sensor component 2 and the working surface 300 is 27 degrees, and the first intersection line between the detection space of the front sensor component 2 and the working surface 300 is 76 mm away from the outer edge surface of the side of the machine body 200. Accordingly, the vertical field of view angle of the front sensor component 2 needs to be set to about 90 degrees at this time.

[0118] In one embodiment, the vertical field of view of the side sensor assembly 3 is between 100 degrees and 150 degrees. Fig.14 As shown, since the installation height of the side sensor component 3 is 153 mm, the second angle between the detection direction of the side sensor component 3 and the working surface 300 is set to 27 degrees, and the second intersection line between the detection space of the side sensor component 3 and the working surface 300 is 4 mm away from the outer edge surface of the side of the machine body 200. Accordingly, the vertical field of view angle of the side sensor component 3 needs to be set to about 123 degrees.

[0119] In one embodiment, the horizontal field of view angle of the front sensor component 2 is greater than the vertical field of view angle of the front sensor component 2 ; the horizontal field of view angle of the side sensor component 3 is greater than the vertical field of view angle of the side sensor component 3 .

[0120] Specifically, the horizontal field of view angle is greater than the vertical field of view angle, which can help expand the field of view of the composite sensor device 100 and improve the accuracy of its obstacle recognition, positioning and navigation, thereby improving the operating efficiency and safety of external equipment.

[0121] The present application also provides a lawn mowing robot. Figure 8 As shown, the lawn mowing robot includes a machine body 200 and a sensor device. The machine body 200 can move on a working surface 300. The sensor device is installed on the machine body 200. The sensor device adopts the composite sensor device 100 mentioned above.

[0122] Specifically, by arranging a sensor device on the machine body 200, it is possible to achieve effective positioning and walking planning of the machine body 200, and to improve the convenience of disassembly and assembly of the machine body 200 and the sensor device, thereby improving the overall assembly efficiency and maintenance efficiency of the lawn mowing robot.

[0123] In one embodiment, the installation height of the front sensor assembly 2 on the machine body 200 is greater than the installation height of the side sensor assembly 3 on the machine body 200 .

[0124] Specifically, by setting the front sensor component 2 and the side sensor component 3 at different heights, and the installation height of the front sensor component 2 is relatively higher, on the one hand, the front sensor component 2 and the side sensor component 3 installed at different heights can provide more comprehensive environmental information for the machine body 200, which is helpful to more accurately identify and understand the usage scenario; on the other hand, the installation position of the front sensor component 2 is relatively higher, so that the front sensor component 2 can have a wider detection range in front of the machine body 200, so as to obtain more environmental information in front of the machine body 200, thereby helping to improve the positioning and obstacle avoidance reliability of the lawn mowing robot.

[0125] In one embodiment, the installation height difference between the front sensor assembly 2 and the side sensor assembly 3 is greater than 50 mm.

[0126] In one embodiment, the height of the front sensor assembly 2 at the installation position of the machine body 200 is 200 mm to 250 mm. Fig.13 As shown, since the vertical field of view angle of the front sensor component 2 is set to 90 degrees, the first angle between the detection direction of the front sensor component 2 and the working surface 300 is set to 27 degrees, and the first intersection line between the detection space of the front sensor component 2 and the working surface 300 is 76 mm away from the outer edge surface of the side of the machine body 200. Accordingly, the installation height of the front sensor component 2 needs to be set to about 234 mm.

[0127] In one embodiment, the height of the side sensor assembly 3 at the installation position of the machine body 200 is 120 mm to 200 mm. Specifically, by installing the side sensor assembly 3 above 120 mm, the risk of the side sensor assembly 3 being blocked by tall grass can be reduced, thereby improving the working reliability of the side sensor assembly 3. Fig.14 As shown, since the vertical field of view angle of the side sensor component 3 is set to 123 degrees, the second angle between the detection direction of the side sensor component 3 and the working surface 300 is set to 27 degrees, the second intersection line between the detection space of the side sensor component 3 and the working surface 300 is 4 mm away from the outer edge surface of the side of the machine body 200. Accordingly, the installation height of the side sensor component 3 needs to be set to about 153 mm.

[0128] In one embodiment, the detection direction of the front sensing component 2 is tilted downward, and there is a first angle between the detection direction and the working surface 300. The detection direction of the side sensing component 3 is tilted downward, and there is a second angle between the detection direction and the working surface 300, wherein the first angle is smaller than the second angle.

[0129] Specifically, firstly, by tilting the front sensor assembly 2 downward, the detection space of the front sensor assembly 2 is tilted downward as a whole, which helps the front sensor assembly 2 to detect an area closer to the front of the machine body 200 when the installation height of the front sensor assembly 2 remains unchanged, thereby helping to reduce the blind spot in front of the machine body 200 during operation; secondly, by tilting the side sensor assembly 3 downward, the detection space of the side sensor assembly 3 is tilted downward as a whole, thereby helping to reduce the blind spot in front of the machine body 200 when the installation height of the side sensor assembly 3 remains unchanged. The sensor component 3 can detect an area closer to the side of the machine body 200, thereby helping to reduce the blind spot on the side of the machine body 200 during operation; finally, the second angle is greater than the first angle. On the one hand, it enables the front sensor component 2 to detect environmental information relatively farther in front of the machine body 200, which is beneficial for the lawn mowing robot to detect obstacles earlier and avoid them. On the other hand, it enables the side sensor component 3 to more easily detect an area closer to the side of the machine body 200, thereby helping to reduce the blind spot on the side of the machine body 200 during operation.

[0130] Specifically, the direction where the detection center line of the front sensor assembly 2 is located is the detection direction of the front sensor assembly 2 , and the direction where the detection center line of the side sensor assembly 3 is located is the detection direction of the side sensor assembly 3 .

[0131] In one embodiment, the detection space of the front sensor assembly 2 and the working surface 300 have at least a first intersection line, and the distance between the first intersection line and the front end of the machine body 200 is between 0 mm and 180 mm. Figure 8 As shown, the forward speed of the machine body 200 is 0.35m / s, and the braking time of the machine body 200 is 0.5s. In the case of ignoring acceleration, in order to avoid the machine body 200 from colliding with the detected obstacles, the safe braking distance is not less than 175mm, that is, the front sensor component 2 needs to detect obstacles more than 175mm in front of the machine body 200. Therefore, the first intersection line of the detection space of the front sensor component 2 and the working surface 300 is set to be less than 180mm, so that obstacles more than 180mm on the forward route of the machine body 200 can be detected, so as to stop in time or change the moving state of the machine body 200.

[0132] In one embodiment, the detection space of the side sensor assembly 3 and the working surface 300 have at least a second intersection line, and the distance between the second intersection line and the outer edge surface of the side of the machine body 200 is between -20 mm and 20 mm.

[0133] In one embodiment, if Fig. 9As shown, the machine body 200 includes a main frame 201, a moving mechanism 202 and an upper shell 203. The moving mechanism 202 is arranged at the bottom of the main frame 201. The upper shell 203 is floatingly connected to the main frame 201, and the composite sensor device 100 is installed on the upper shell 203.

[0134] Specifically, by providing an upper shell 203 that is floatingly connected to the main frame 201 and arranging the composite sensor device 100 on the upper shell 203, when the lawn mowing robot collides, the upper shell 203 and the composite sensor device 100 can move relative to the main frame 201, thereby achieving collision buffering, thereby avoiding damage to the composite sensor device 100 due to excessive collision impact force, which helps to increase the service life of the composite sensor device 100.

[0135] In some embodiments, Fig. 9 As shown, the machine body 200 further includes a cutting mechanism 204 , which is disposed at the bottom of the main frame 201 and is offset from the moving mechanism 202 in a direction parallel to the working surface 300 .

[0136] In some embodiments, Fig. 9 As shown, the cutting mechanism 204 is arranged at the central area of ​​the bottom of the machine body 200. When the distance between the second intersection line and the outer edge surface of the side of the machine body 200 is a negative value, it means that the second intersection line is located between the outer edge surface and the cutting mechanism 204. This design makes the distance between the second intersection line and the cutting mechanism 204 smaller, which is conducive to the cutting mechanism 204 being as close to the working boundary as possible, thereby improving the mowing coverage rate of the lawn mowing robot.

[0137] In some embodiments, Fig. 9As shown, the distance between the edge of the cutting mechanism 204 and the outer edge surface of the side of the mowing robot is not less than 20 mm. Under this design premise, in order to make the cutting mechanism 204 as close to the working boundary as possible, the side sensor assembly 3 needs to be able to detect the boundary information of the inner side of the outer edge surface of the side of the machine body 200, that is, the distance between the second intersection line and the outer edge surface of the side of the machine body 200 needs to be a negative value. In the case where the distance between the second intersection line and the outer edge surface of the side of the machine body 200 is a negative value, the mowing robot can go beyond the boundary and use the cutting mechanism 204 to cut the grass on the boundary, and the closer the distance between the second intersection line and the outer edge surface of the side of the machine body 200 is to -20 mm, the closer the cutting mechanism 204 can be to the working boundary. When the distance between the edge of the cutting mechanism 204 and the outer edge surface of the side of the mowing robot is 20 mm, and the distance between the second intersection line and the outer edge surface of the side of the machine body 200 is -20 mm, the cutting edge of the cutting mechanism 204 can overlap with the working boundary, thereby achieving complete cutting of the grass within the working boundary, so that the mowing coverage rate reaches 100%. When the distance between the edge of the cutting mechanism 204 and the outer edge surface of the side of the mowing robot is 20 mm, and the distance between the second intersection line and the outer edge surface of the side of the machine body 200 is less than -20 mm (for example, the distance is -30 mm), the cutting edge of the cutting mechanism 204 will exceed the working boundary, and this design is unnecessary.

[0138] In some embodiments, to prevent the side sensor assembly 3 from being blocked by tall grass, the side sensor assembly 3 cannot be set at the bottom of the machine body 200, but should be set at the side of the machine body 200 and at a certain distance from the working surface 300, so that the side sensor assembly 3 is located at a higher position. Further, under the design requirement that the side detection blind area cannot be too large, it is necessary to make the distance between the second intersection line and the outer edge surface of the side of the machine body 200 less than 20 mm.

[0139] In one embodiment, if Fig.10 As shown, a first mounting hole 2031 is opened at the front end of the upper shell 203 , a second mounting hole 2032 is opened at at least one side of the upper shell 203 , the front sensor component 2 is embedded in the first mounting hole 2031 , and the side sensor component 3 is embedded in the second mounting hole 2032 .

[0140] In one embodiment, when the second mounting holes 2032 are formed on both sides of the upper shell 203 , the second mounting holes 2032 are symmetrically arranged on both sides of the upper shell 203 .

[0141] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A composite sensor device, characterized in that: include: A composite shell, wherein the composite shell forms a first accommodation space and a second accommodation space; A front sensor component, which is disposed in the first accommodation space and is used to detect environmental information in front; A side sensor component is disposed in the second accommodation space and is used to detect side environmental information.

2. The composite sensor device according to claim 1, characterized in that: The composite shell includes a first shell, a second shell and a third shell. The first shell and the second shell form the first accommodating space, and the second shell and the third shell form the second accommodating space.

3. The composite sensor device according to claim 2, characterized in that: The second shell has a first surface and a second surface that are opposite to each other. The first surface and the first shell form the first accommodation space, and the second surface and the third shell form the second accommodation space.

4. The composite sensor device according to claim 3, characterized in that: The third shell includes a accommodating shell and a connecting shell, one end of the connecting shell is connected to the accommodating shell, and the other end of the connecting shell is connected to the second surface. The side sensing assembly includes a side sensor and an electrical connecting line, the side sensor is arranged in the accommodating shell, and the electrical connecting line is passed through the connecting shell.

5. The composite sensor device according to claim 2, characterized in that: The second shell is provided with a first opening, and the first accommodating space is communicated with the second accommodating space through the first opening.

6. The composite sensor device according to claim 5, characterized in that: A control circuit board is also provided in the first accommodating space. The side sensing assembly includes a side sensor and an electrical connection line. One end of the electrical connection line is electrically connected to the side sensor, and the other end of the electrical connection line passes through the first opening and is electrically connected to the control circuit board.

7. The composite sensor device according to claim 2, characterized in that: The side wall of the first shell is provided with a first optical window and a first cleaning component, and the first cleaning component is used to clean the first optical window, or / and, the third shell is provided with a second optical window and a second cleaning component, and the second cleaning component is used to clean the second optical window.

8. The composite sensor device according to any one of claims 1 to 7, characterized in that: The front sensing component is located on the central axis of the composite sensing device, and the side sensing component is located on one side of the central axis.

9. The composite sensor device according to any one of claims 1 to 7, characterized in that: The distance between the front sensor component and the front end of the composite shell is smaller than the distance between the side sensor component and the front end of the composite shell.

10. The composite sensor device according to any one of claims 1 to 7, characterized in that: The front sensing component includes at least one of a monocular camera, a multi-camera, a laser radar, an ultrasonic sensor, and a millimeter-wave radar; the side sensing component includes at least one of a laser radar, a monocular camera, and a fisheye camera.

11. The composite sensor device according to any one of claims 1 to 7, characterized in that: The detection space of the front sensor assembly and the detection space of the side sensor assembly intersect.

12. The composite sensor device according to any one of claims 1 to 7, characterized in that: The horizontal field of view angle of the front sensor component is smaller than the horizontal field of view angle of the side sensor component.

13. The composite sensor device according to claim 12, characterized in that: The horizontal field of view angle of the front sensor component is 90 degrees to 130 degrees; and / or the horizontal field of view angle of the side sensor component is 110 degrees to 150 degrees.

14. The composite sensor device according to any one of claims 1 to 7, characterized in that: The vertical viewing angle of the front sensor component is smaller than the vertical viewing angle of the side sensor component.

15. The composite sensor device according to claim 14, characterized in that: The vertical field of view of the front sensor component is between 70 degrees and 100 degrees; and / or the vertical field of view of the side sensor component is between 90 degrees and 120 degrees.

16. The composite sensor device according to any one of claims 1 to 7, characterized in that: The horizontal field of view angle of the front sensor assembly is greater than the vertical field of view angle of the front sensor assembly; And / or, the horizontal field of view angle of the side sensor assembly is greater than the vertical field of view angle of the side sensor assembly.

17. A lawn mowing robot, characterized in that: include: a machine body, the machine body being movable on a work surface; A sensor device, wherein the sensor device is installed on the machine body, and the sensor device adopts the composite sensor device according to any one of claims 1 to 16.

18. The lawn mowing robot according to claim 17, characterized in that: The installation height of the front sensor assembly on the machine body is greater than the installation height of the side sensor assembly on the machine body.

19. The lawn mowing robot according to claim 18, characterized in that: The installation height difference between the front sensor assembly and the side sensor assembly is greater than 50 mm.

20. The lawn mowing robot according to claim 17, characterized in that: The detection direction of the front sensing component is tilted downward, and there is a first angle between the detection direction and the working surface. The detection direction of the side sensing component is tilted downward, and there is a second angle between the detection direction and the working surface, wherein the first angle is smaller than the second angle.

21. The lawn mowing robot according to claim 17, characterized in that: The detection space of the front sensing component and the working surface have at least a first intersection line, and the distance between the first intersection line and the front end of the machine body is between 0 mm and 180 mm.

22. The lawn mowing robot according to claim 17, characterized in that: The detection space of the side sensor assembly has at least a second intersection line with the working surface, and the distance between the second intersection line and the outer edge surface of the side of the machine body is between -20 mm and 20 mm.

23. The lawn mowing robot according to any one of claims 17 to 22, characterized in that: The machine body comprises a main frame, a moving mechanism and an upper shell, wherein the moving mechanism is arranged at the bottom of the main frame, the upper shell is floatingly connected to the main frame, and the composite sensor device is installed on the upper shell.

24. The lawn mowing robot according to claim 23, characterized in that: A first mounting hole is formed at the front end of the upper shell, a second mounting hole is formed at at least one side of the upper shell, the front sensor component is embedded in the first mounting hole, and the side sensor component is embedded in the second mounting hole.

25. The lawn mowing robot according to claim 24, characterized in that: When the second mounting holes are formed on both sides of the upper shell, the second mounting holes are symmetrically arranged on the two sides of the upper shell.

Images