Mowing robot

Abstract

The mowing robot comprises a robot body, the robot body is provided with a geomagnetic module used for sensing magnetic signals of the walking surface of the mowing robot, the geomagnetic module and the robot body are detachably connected through a connecting structure made of non-magnetic materials, and the connecting structure at least comprises a first connecting part and a second connecting part; the first connecting part at least partially forms a housing of the geomagnetic module, and the second connecting part at least partially forms a fuselage. According to the mowing robot, the geomagnetic module is fixedly mounted on the robot body through the connecting structure made of the non-magnetic conductive material, so that the problem of misjudgment caused by interference generated by magnetization of fasteners at the joint of the geomagnetic module can be effectively avoided; it is ensured that the geomagnetic module can accurately sense magnetic signals on the walking surface of the mowing robot, and stable operation of the mowing robot is ensured.

Description

Technical Field

[0001] The present application relates to the technical field of gardening tool design and manufacturing, and in particular to a lawn mowing robot. Background Art

[0002] A robotic lawnmower is an automated gardening tool used to automatically mow the lawn, significantly reducing manual labor. Generally, a robotic lawnmower not only automatically mows the lawn but also uses built-in sensors to detect and avoid obstacles, such as trees, flower beds, chairs, and anything else that could affect the robot's movement. For example, a magnetic signal-emitting element is placed on the ground near an obstacle, and a geomagnetic module (including a magnetic sensor) is installed within the robot. When the magnetic sensor detects a magnetic signal near an obstacle, the robot can take appropriate evasive action.

[0003] In the prior art, the geomagnetic module is generally fastened to the body by metal screws. When the screws are magnetized, they interfere with the geomagnetic module, causing misjudgment and affecting the normal operation of the lawn mowing robot.

[0004] Therefore, how to avoid the geomagnetic module from misjudging due to interference caused by the magnetization of the metal screws at the connection is a technical problem that needs to be solved urgently by those skilled in the art. Utility Model Content

[0005] In view of this, the purpose of the present application is to provide a lawn mowing robot that can avoid misjudgment caused by interference from the geomagnetic module due to magnetization of metal screws at the connection.

[0006] To achieve the above objectives, this application provides the following technical solutions:

[0007] A lawn mowing robot comprises a body, wherein the body is provided with a geomagnetic module for sensing magnetic signals on a walking surface of the lawn mowing robot.

[0008] The geomagnetic module and the fuselage are detachably connected through a connecting structure made of non-magnetic material. The connecting structure includes at least a first connecting part and a second connecting part. The first connecting part at least partially constitutes the outer shell of the geomagnetic module, and the second connecting part at least partially constitutes the fuselage.

[0009] Optionally, in the above-mentioned lawn mowing robot, the first connecting part and the second connecting part constitute a snap connection structure.

[0010] Optionally, in the above lawn mowing robot, the first connecting portion is formed as a slot, and the second connecting portion is formed as a hook adapted to the slot; or,

[0011] The first connecting portion is formed as a hook, and the second connecting portion is formed as a slot adapted to the hook.

[0012] Optionally, in the above-mentioned lawn mowing robot, the body is provided with a mounting portion, the mounting portion comprising a hollow cylinder with one end open and protruding relative to the outer surface of the body, and the hook is protruding from the side wall of the hollow cylinder;

[0013] The shell includes an insertion portion that can be inserted into the hollow cylinder, and an extension portion located outside the hollow cylinder. The side wall of the extension portion is protruding with a folded ear structure, the folded ear structure forms the card slot, and the card slot is provided with a through hole structure or a groove structure.

[0014] Optionally, in the above-mentioned lawn mowing robot, the first connecting part is provided with a first mounting hole; the second connecting part is provided with a second mounting hole; the connecting structure also includes a fastening connector, which is passed through the first mounting hole and the second mounting hole to fix the geomagnetic module on the fuselage.

[0015] Optionally, in the above-mentioned lawn mowing robot, the connecting structure is located at the bottom of the body;

[0016] And / or, the connecting structure is arranged close to the head of the fuselage.

[0017] Optionally, in the above-mentioned lawn mowing robot, at least two connecting structures are provided and are arranged symmetrically along the axis of the fuselage.

[0018] Optionally, in the above-mentioned lawn mowing robot, the geomagnetic module includes the shell and a circuit board accommodated in the shell, and the circuit board is provided with a magnetic sensor; and the first connecting portion is formed as a part of the shell.

[0019] Optionally, in the above-mentioned lawn mowing robot, a mounting portion is protruding from the bottom of the body, and the second connecting portion forms a part of the mounting portion.

[0020] Optionally, in the above-mentioned lawn mowing robot, the circuit board is at least partially accommodated in an end of the shell away from the body, and the width of the end of the shell away from the body is smaller than that of the end of the shell close to the body.

[0021] It can be seen from the above technical solution that in the lawn mower robot provided by the present application, the geomagnetic module is fixedly installed on the fuselage through a connection structure composed of non-magnetic materials, thereby effectively avoiding the problem of misjudgment caused by interference caused by the magnetization of the fasteners at the connection of the geomagnetic module, and ensuring that the geomagnetic module can accurately sense the magnetic signals of the walking surface of the lawn mower robot and ensure the stable operation of the lawn mower robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. 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 any creative work.

[0023] Figure 1 This is a bottom axonometric view of a lawn mowing robot provided in an embodiment of the present application.

[0024] Figure 2 for Figure 1 Magnified view of area A in center.

[0025] Figure 3 This is a bottom view of a lawn mowing robot provided in an embodiment of the present application.

[0026] Figure 4 for Figure 3 Magnified view of area B.

[0027] Figure 5 A side view of a lawn mowing robot provided in an embodiment of the present application.

[0028] Figure 6 for Figure 5 Magnified view of area C in the middle.

[0029] Figure 7 for Figure 5 Cross-sectional view at the FF section position.

[0030] Figure 8 This is an axonometric diagram of a lawn mowing robot provided in an embodiment of the present application.

[0031] in:

[0032] 1-installation part, 2-housing, 3-circuit board, 4-fastening connector,

[0033] 11-hook, 21-slot. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0035] See also Figures 1 to 8, an embodiment of the present application provides a lawn mower robot, which includes a body, and the body is provided with a geomagnetic module for sensing magnetic signals on the walking surface of the lawn mower robot. The geomagnetic module and the body are detachably connected by a connecting structure composed of non-magnetic material, and the connecting structure includes at least a first connecting part and a second connecting part, wherein: the first connecting part is made of non-magnetic material, which at least partially constitutes the shell 2 of the geomagnetic module, that is, the entire first connecting part constitutes the entire or part of the shell 2, or a partial area of ​​the first connecting part constitutes the entire or part of the shell 2; the second connecting part is made of non-magnetic material, which at least partially constitutes the body of the lawn mower robot, that is, the entire second connecting part constitutes the entire or part of the body, or a partial area of ​​the second connecting part constitutes the entire or part of the body.

[0036] It should be noted that magnetic materials refer to materials with magnetism, such as metals such as iron, nickel, and cobalt, and magnetic ceramics. Under the action of an external magnetic field, magnetic materials can be magnetized and become an electromagnet. The non-magnetic materials mentioned in this article refer to materials that cannot be magnetized and have a very weak response to an external magnetic field (i.e., weak magnetism). They usually refer to diamagnetic materials and paramagnetic materials. The relative magnetic permeability of these materials is close to 1, and they will not significantly enhance or significantly weaken the external magnetic field. The characteristics of non-magnetic materials include weak magnetism and no residual magnetism, among which: non-magnetic materials have the characteristics of weak magnetism. Whether they are diamagnetic or paramagnetic materials, their response to an external magnetic field is very weak, far less strong than that of ferrous magnetic materials; non-magnetic materials have the characteristics of no residual magnetism. When the external magnetic field is removed, non-magnetic materials do not retain any magnetism (i.e., no residual magnetism). In specific implementation, the non-magnetic materials used in this application can be plastic, rubber, ceramics, wood, stone, glass, etc. These materials cannot be magnetized and have very low magnetic permeability, which can prevent the conduction and diffusion of the magnetic field, avoiding electromagnetic interference and magnetic field leakage.

[0037] It can be seen that in the lawn mower robot provided in the embodiment of the present application, the geomagnetic module is fixedly installed on the fuselage through a connection structure composed of non-magnetic materials, thereby effectively avoiding the problem of misjudgment caused by interference caused by the magnetization of the fasteners at the connection of the geomagnetic module, ensuring that the geomagnetic module can accurately sense the magnetic signals of the walking surface of the lawn mower robot and ensure the stable operation of the lawn mower robot.

[0038] In specific implementation, the above-mentioned connection structure can adopt any one of a number of methods such as snap-on, plug-in, and threaded connection to achieve a reliable connection between the geomagnetic module and the fuselage, or the geomagnetic module and the fuselage can also be connected by a connector made of non-magnetic material (such as a plastic screw). This application does not specifically limit the connection method adopted by the connection structure between the geomagnetic module and the fuselage, as long as the connection between the geomagnetic module and the fuselage adopts a connection structure made of non-magnetic material and can achieve a stable and reliable detachable connection. The following is a specific explanation using the snap-on connection as an example.

[0039] See Figure 2 In some embodiments, the body of the lawn mower robot is provided with a mounting portion 1 for mounting a geomagnetic module. The first connecting portion and the second connecting portion in the connection structure for mounting the geomagnetic module described above are respectively formed as a slot 21 and a hook 11 adapted to the slot 21, so that the first connecting portion and the second connecting portion constitute a snap connection structure. The mounting portion 1 includes a hollow cylinder with an open end protruding from the outer surface of the body, one end of the hollow cylinder is connected to the body, and the other end is away from the body and the opening is facing the ground, and the hook 11 is protruding from the outer surface of the side wall of the hollow cylinder; the outer shell 2 of the geomagnetic module includes an insertion portion that can be inserted into the hollow cylinder, and an extension portion located outside the hollow cylinder. The outer surface of the side wall of the extension portion is protruding with a folding ear structure, which forms the slot 21. The slot 21 is provided with a through-hole structure or a groove structure, so that it can be detachably connected to the hook 11. Preferably, the two sides of the housing 2 and the two sides of the hollow cylinder are respectively connected by the above-mentioned snap connection structure, so that the geomagnetic module is securely and removably installed on the fuselage.

[0040] However, it is not limited to this. In other embodiments, the snap-fit ​​connection structure can also be set in the mounting part 1 of the hollow cylindrical structure. In this case, the mounting part 1 includes a hollow cylinder with an open end protruding from the outer surface of the fuselage body, one end of the hollow cylinder is connected to the fuselage body, and the other end is away from the fuselage body and the opening is facing the ground, and the hook 11 is protruding from the inner surface of the side wall of the hollow cylinder; the shell 2 of the geomagnetic module includes an insertion part that can be inserted into the above-mentioned hollow cylinder, and an extension part located outside the hollow cylinder, and the side wall of the insertion part forms a slot 21 through a groove or through-hole structure. When the shell 2 of the geomagnetic module is inserted into the hollow cylinder of the mounting part 1, the hook 11 can automatically slide into the slot 21 and engage with it to limit the position. Preferably, a snap-fit ​​connection structure is provided between the two sides of the shell 2 and the inner side wall of the hollow cylinder to securely and detachably mount the geomagnetic module to the fuselage.

[0041] Alternatively, see Figure 7In other embodiments, the connection structure for mounting the geomagnetic module on the fuselage described above includes not only a first connection portion and a second connection portion, but may also further include a fastening connector 4. In this case, the first connection portion is a first ear plate protruding from the side wall of the outer shell 2, and the first ear plate has a first mounting hole; the second connection portion is a second ear plate protruding from the side wall of the mounting portion 1, and the second ear plate has a second mounting hole; the fastening connector 4 is inserted into the first mounting hole and the second mounting hole to fasten the outer shell 2 and the mounting portion 1 of the geomagnetic module, thereby fixing the geomagnetic module to the fuselage. In specific implementation, the fastening connection member 4 can be a screw made of non-magnetic material, which is threadedly connected to the second mounting hole on the fuselage; or, the fastening connection member 4 includes a bolt made of non-magnetic material and a nut made of non-magnetic material, one end of the bolt is located outside the first mounting hole and is axially limited thereto, and the other end passes through the first mounting hole and the second mounting hole and is connected to the nut to fasten the first ear plate and the second ear plate, thereby fastening the housing 2 and the mounting part 1 of the geomagnetic module, and finally fixing the geomagnetic module on the fuselage.

[0042] See Figure 1 In some embodiments, the geomagnetic module described above is disposed at the bottom of the body so as to sense magnetic signals from magnetic elements disposed on the ground and timely control the mowing robot to stop or turn.

[0043] See Figure 1 or Figure 3 In some embodiments, each robotic lawn mower is equipped with at least two of the aforementioned connecting structures for attaching the geomagnetic module to the robot body, and the connecting structures are symmetrically arranged along the robot body axis. The connecting structures are preferably located near the head of the robot body. This facilitates the robotic lawn mower to promptly sense magnetic signals from ground-mounted magnetic elements, preventing the robot head or sides of the robot body from exceeding preset ground boundaries and colliding with obstacles.

[0044] See Figure 7 In some embodiments, each geomagnetic module includes a housing 2 and a circuit board 3 housed in the housing 2, the circuit board 3 being provided with a magnetic sensor (e.g., a Hall effect sensor); the first connecting portion mentioned above is formed as a part of the housing 2; a mounting portion 1 is protruding from the bottom of the fuselage, and the second connecting portion mentioned above is formed as a part of the mounting portion 1. Specifically, the circuit board 3 is at least partially housed in the end of the housing 2 away from the fuselage and is adapted to the internal cavity of the housing 2, so that the circuit board 3 can be fixed by the internal cavity of the end of the housing 2 away from the fuselage. And as Figure 2As shown, the width of the end of the housing 2 away from the body is smaller than that of the end closer to the body. That is, the end of the housing 2 closer to the body is inserted into the mounting portion 1 and has a larger width than the end of the housing 2 away from the body, so as to facilitate the insertion of the circuit board 3 into the housing 2. It can be seen that the shape of the housing 2 is designed according to the circuit board 3, and the bottom of the housing 2 is relatively narrow to fix the circuit board, while the opening of the housing 2 is relatively wide to be connected with the mounting portion 1.

[0045] It should be noted that the magnetic sensor in the geomagnetic module is usually a Hall effect sensor, which is mainly used to detect and respond to the boundary line (usually a conductive wire) buried at the edge of the lawn to ensure that the lawn mower robot operates within the predetermined area and avoids interference with obstacles. The functions of the geomagnetic module in the lawn mower robot provided in this application include at least one of the following:

[0046] 1) Boundary detection

[0047] Defining a working area and preventing violations: A robotic lawn mower determines its operating range by detecting a conductive wire embedded along the edge of the lawn. This wire is often called a boundary wire or fence wire. When the robotic lawn mower approaches the boundary wire, magnetic sensors detect the changes in the magnetic field generated by the wire. Once the magnetic sensor detects the boundary wire, the robotic lawn mower stops and changes direction, avoiding crossing the designated working area.

[0048] 2) Path planning and navigation

[0049] By combining other sensors (such as gyroscopes and accelerometers), the mowing robot can better plan its movement path. By continuously detecting the location of the boundary line, the mowing robot can adjust its route to ensure that the entire lawn is mowed evenly, avoiding missed or duplicate mowing.

[0050] 3) Safety features

[0051] Anti-collision: In addition to boundary lines, some lawn mower robots may also set up some small magnetic markers inside the lawn to mark obstacles (such as trees, flower beds, etc.). Magnetic sensors can detect these markers and enable the lawn mower robot to avoid these obstacles.

[0052] Emergency stop: If the magnetic sensor detects an abnormal signal (such as a broken or damaged conductive wire), the lawn mower robot may enter safety mode, stop working and sound an alarm to prevent potential safety issues.

[0053] 4) Charging station positioning

[0054] Return to charging station: Many robotic lawn mowers have a special magnetic marker near their charging station. When the battery is low, the robotic lawn mower uses a magnetic sensor to detect this marker, find the charging station, and automatically return to charge.

[0055] Finally, it should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed.

[0056] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0057] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present application. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application is not limited to the embodiments shown herein, but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A lawn mower robot, comprising a body, wherein the body is provided with a geomagnetic module for sensing magnetic signals on a walking surface of the lawn mower robot, wherein: The geomagnetic module and the fuselage are detachably connected through a connecting structure made of non-magnetic material. The connecting structure includes at least a first connecting part and a second connecting part. The first connecting part at least partially constitutes the outer shell of the geomagnetic module, and the second connecting part at least partially constitutes the fuselage.

2. The lawn mowing robot according to claim 1, characterized in that: The first connecting portion and the second connecting portion form a snap connection structure.

3. The lawn mowing robot according to claim 2, characterized in that: The first connecting portion is formed as a slot, and the second connecting portion is formed as a hook adapted to the slot; or The first connecting portion is formed as a hook, and the second connecting portion is formed as a slot adapted to the hook.

4. The lawn mowing robot according to claim 3, characterized in that: The fuselage is provided with a mounting portion, the mounting portion comprising a hollow cylinder with one end open and protruding relative to the outer surface of the fuselage body, the hook being protruding from the side wall of the hollow cylinder; The shell includes an insertion portion that can be inserted into the hollow cylinder, and an extension portion located outside the hollow cylinder. The side wall of the extension portion is protruding with a folded ear structure, the folded ear structure forms the card slot, and the card slot is provided with a through hole structure or a groove structure.

5. The lawn mowing robot according to claim 1, characterized in that: The first connecting portion is provided with a first mounting hole; The second connecting portion is provided with a second mounting hole; The connection structure further includes a fastening connector, which is inserted into the first mounting hole and the second mounting hole to fix the geomagnetic module on the fuselage.

6. The lawn mowing robot according to any one of claims 1 to 5, characterized in that: The connecting structure is located at the bottom of the fuselage; And / or, the connecting structure is arranged close to the head of the fuselage.

7. The lawn mowing robot according to any one of claims 1 to 5, characterized in that: There are at least two connecting structures, which are symmetrically arranged along the axis of the fuselage.

8. The lawn mowing robot according to claim 1, characterized in that: The geomagnetic module includes the housing and a circuit board accommodated in the housing, wherein the circuit board is provided with a magnetic sensor; and the first connecting portion is formed as a part of the housing.

9. The lawn mowing robot according to claim 8, characterized in that: A mounting portion is protruding from the bottom of the body, and the second connecting portion forms a part of the mounting portion.

10. The lawn mowing robot according to claim 9, characterized in that: The circuit board is at least partially accommodated in an end of the housing away from the body, and a width dimension of the end of the housing away from the body is smaller than a width dimension of an end of the housing close to the body.

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