Intelligent outdoor operation vehicle

Abstract

The utility model relates to the field of gardening tools, in particular to an intelligent outdoor operation vehicle. The intelligent outdoor operation vehicle comprises a walking assembly configured to support the intelligent outdoor operation vehicle to walk, and the walking assembly comprises a first walking wheel capable of rotating with a first axis as a shaft; the second walking wheel can rotate by taking a second axis as a shaft; the sensors are configured to support the intelligent outdoor operation vehicle to automatically run in the operation area, the number of the sensors arranged on the intelligent outdoor operation vehicle is Y, and the calculation formula is as follows: L is the distance between the first axis and the second axis; x is the operation amplitude of the operation assembly in the advancing direction of the intelligent outdoor operation vehicle; the operation represents downward rounding operation, and the operation represents upward rounding operation. The problem that a worker cannot quickly obtain the number of corresponding sensors needing to be installed according to different relevant parameters of a vehicle is solved.

Description

[TECHNICAL FIELD]

[0001] The present application relates to the field of garden tools, in particular to an intelligent outdoor working vehicle. [BACKGROUND]

[0002] The intelligent outdoor working vehicle is a functional vehicle for performing specific work outdoors. In the prior art, in different use scenarios, the work personnel selects different sizes of working assemblies according to the actual situation. Due to the different sizes of the working assemblies, in order to meet the full-angle detection of the environment around the intelligent outdoor working vehicle, the number of sensors to be set is also different. This causes great inconvenience to the work personnel when setting sensors on the intelligent outdoor working vehicle according to different working assemblies.

[0003] Moreover, the size between the wheelbase of the front and rear wheels of the intelligent outdoor working vehicle also affects the selection of the number of sensors, which further increases the difficulty of the work personnel in setting an appropriate number of sensors on the intelligent outdoor working vehicle.

[0004] Therefore, it is necessary to provide an intelligent outdoor working vehicle to overcome the defects in the prior art. [SUMMARY]

[0005] In view of the deficiencies of the prior art, the purpose of the present application is to provide an intelligent outdoor working vehicle, so that the work personnel can quickly obtain the number of installable sensors matched with the vehicle according to the relevant parameters of the vehicle.

[0006] The technical solution adopted by the present application to solve the problems of the prior art is: an intelligent outdoor working vehicle, comprising:

[0007] A walking assembly configured to support the intelligent outdoor working vehicle to walk, the walking assembly comprising:

[0008] A first walking wheel capable of rotating about a first axis;

[0009] A second walking wheel capable of rotating about a second axis;

[0010] A working assembly configured to perform outdoor work;

[0011] A plurality of sensors configured to support the intelligent outdoor working vehicle to automatically travel in a working area, the number Y of sensors set on the intelligent outdoor working vehicle being calculated according to the following formula:

[0012]

[0013] Wherein, L is the distance between the first axis and the second axis, 1.5m≥L≥1m;

[0014] X is a working range of the working assembly in a direction of travel of the intelligent outdoor working vehicle, 60 inch≥X≥30 inch;

[0015] denotes a floor operation, denotes a ceiling operation.

[0016] Further improvement is that the walking assembly comprises a first walking wheel capable of rotating around a first axis and a second walking wheel capable of rotating around a second axis, and a diameter of the first walking wheel is greater than a diameter of the second walking wheel.

[0017] In a direction of travel of the intelligent outdoor working vehicle, both ends of the first walking wheel are provided with the sensor.

[0018] The sensor at one end of the first walking wheel at least partially overlaps with the sensor at the other end of the walking wheel in a detection range.

[0019] Further improvement is that a detection distance of the sensor in a horizontal direction is greater than or equal to 0.1 m and less than or equal to 20 m.

[0020] Further improvement is that a detection distance of the sensor in a direction perpendicular to the horizontal direction is greater than or equal to 0.1 m and less than or equal to 5 m.

[0021] Further improvement is that the sensor is at least one of an ultrasonic sensor, a visual sensor, and a laser radar.

[0022] Further improvement is that a detection height of the sensor is not less than 0.1 m.

[0023] Further improvement is that a plurality of the sensors are arranged around a circumference of the intelligent outdoor working vehicle, and a plurality of the sensors cover a full angle around the intelligent outdoor working vehicle.

[0024] Further improvement is that a number of the sensors is greater than or equal to 4 and less than or equal to 30.

[0025] Further improvement is that a detection range of any adjacent two of the plurality of the sensors at least partially overlaps.

[0026] Further improvement scheme is: further comprising a computing power master module, at least part of the signals in the plurality of sensors are connected with the computing power master module and the whole vehicle controller on the intelligent outdoor working vehicle is connected with the computing power master module, the computing power master module is used for processing the detection information of the sensors connected with the computing power master module, and the processed information is transmitted to the whole vehicle controller, and the whole vehicle controller controls the operation of the walking assembly and / or the working assembly according to the information.

[0027] Compared with the prior art, the present application has the following beneficial effects:

[0028] In the present application, the number of sensors required to be installed on the intelligent outdoor working vehicle can be determined by the staff according to the wheelbase size of the front and rear wheels of the intelligent outdoor working vehicle and the working range size of the working assembly, thereby improving the work efficiency of the staff. [DETAILED DESCRIPTION]

[0029] The specific embodiments of the present application will be further described in detail below with reference to the accompanying drawings:

[0030] Figure 1 is a schematic view of the existing outdoor working vehicle in the present application;

[0031] Figure 2 is a schematic view of the structure of the existing outdoor working vehicle in the present application after the holes (determination of installation position) are opened on the frame, left cover, right cover and tail cover;

[0032] Figure 3 is another angle of the schematic view of the structure of the existing outdoor working vehicle in the present application after the holes (determination of installation position) are opened on the frame, left cover, right cover and tail cover;

[0033] Figure 4 is a schematic view of the structure of the existing outdoor working vehicle in the present application after the connection assembly is installed on the frame, left cover, right cover and tail cover;

[0034] Figure 5 is a schematic view of the structure of the existing outdoor working vehicle in the present application after the detection assembly is installed on the frame, left cover, right cover and tail cover;

[0035] Figure 6 is a schematic view of the structure of the intelligent outdoor working vehicle in the present application;

[0036] Figure 7 is a schematic view of the structure of the intelligent outdoor working vehicle in the present application;

[0037] Figure 8 is a schematic view of the structure of the intelligent outdoor working vehicle in the present application;

[0038] Figure 9is a schematic diagram of the right view structure of the intelligent outdoor working vehicle in the present application;

[0039] Figure 10 is a schematic diagram of the full-angle coverage of the ultrasonic sensor of the intelligent outdoor working vehicle in the present application;

[0040] Figure 11 is a schematic diagram of the full-angle coverage of the visual sensor of the intelligent outdoor working vehicle in the present application;

[0041] Figure 12 is a logic block diagram of the control between the sensors and the vehicle of the intelligent outdoor working vehicle in the present application.

[0042] Figure 13 is a schematic diagram of the installation angle of part of the sensors of the intelligent outdoor working vehicle in the present application;

[0043] Figure 14 is a schematic diagram of the periscope structure of the intelligent outdoor working vehicle in the present application;

[0044] Figure 15 is a schematic diagram of the collision detection device of the intelligent outdoor working vehicle in the present application;

[0045] Figure 16 is a schematic diagram of the relationship between three adjacent sensors of one single side of the front, rear, left and right sides of the intelligent outdoor working vehicle in the present application. [DETAILED DESCRIPTION]

[0046] The terms used in the present application are merely for the purpose of describing specific embodiments and are not intended to limit the present application. For example, the words such as "left", "right", "front", "back", etc. indicating the orientation or positional relationship are merely based on the orientation or positional relationship shown in the drawings, only for the convenience of describing the present application and simplifying the description, and are not intended to indicate or imply that the device referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0047] Referring to Figures 1 to 16 The present application relates to a method for upgrading an existing outdoor working vehicle without or not fully having automatic working function to an intelligent outdoor working vehicle with fully automatic working function, and the method comprises the following steps:

[0048] Fixing the existing outdoor working vehicle;

[0049] Determining the installation position on the existing outdoor working vehicle;

[0050] Installing the connecting assembly at the installation position;

[0051] The detection assembly is installed on the connecting assembly.

[0052] It should be noted that the order of the steps of the retrofitting method is not specifically limited in the present application, and the existing outdoor work vehicle without or not fully with the automatic work function can be retrofitted and upgraded to the intelligent outdoor work vehicle with the automatic work function through the above-mentioned retrofitting method.

[0053] In some embodiments, the installation of the connecting assembly and the detection assembly can be performed first, and then the installation of the computing power master module 31 is performed.

[0054] In some embodiments, the installation of the computing power master module 31 can be performed first, and then the installation of the connecting assembly and the detection assembly is performed.

[0055] In some embodiments, the fixing of the existing outdoor work vehicle includes: clamping the frame 1 or the wheel of the existing outdoor work vehicle with a clamp; or, lifting the existing outdoor work vehicle with a lifting device, and making the existing outdoor work vehicle leave the ground.

[0056] Further, the fixing of the existing outdoor work vehicle also includes: stopping the vehicle through the brake structure of the existing outdoor work vehicle itself to realize the fixing of the vehicle.

[0057] Further, the fixing of the existing outdoor work vehicle also includes: driving the existing outdoor work vehicle to a position capable of limiting the wheel or the frame 1, for example, driving the existing outdoor work vehicle to a position with a recess for limiting the wheel.

[0058] In some embodiments, determining the installation position on the existing outdoor work vehicle includes: performing positioning processing and marking on multiple point positions on the frame 1 and / or the shell assembly of the existing outdoor work vehicle with a positioning device, to form multiple to-be-processed marking points;

[0059] Processing the multiple to-be-processed marking points on the frame 1 and / or the shell assembly with a processing device to form multiple installation positions.

[0060] In some embodiments, performing positioning processing and marking on multiple point positions on the frame 1 and / or the shell assembly of the existing outdoor work vehicle with a positioning device to form multiple to-be-processed marking points includes:

[0061] According to the height and angle required when the detection assembly is installed, the positioning device is used to preliminarily position multiple point positions on the frame 1 and / or the shell assembly;

[0062] The height and / or angle of the output end of the positioning device are adjusted to adjust the multiple preliminarily positioned point positions on the frame 1 and / or the shell assembly to multiple determined positioning points, and the multiple determined positioning points are marked to form multiple to-be-processed marking points.

[0063] In some embodiments, the positioning device includes a total station, a laser rangefinder, and a high-precision rangefinder. Of course, the positioning device can also be other devices capable of positioning the height and angle of the frame 1 or outer shell assembly of an existing outdoor work vehicle.

[0064] In some embodiments, in the installation method of this application, the height of the marker point to be processed is first determined, and then the angle of the marker point to be processed is determined.

[0065] In some embodiments, processing multiple marking points on the frame 1 and / or housing assembly using a processing device to form multiple mounting positions includes:

[0066] Multiple marking points to be processed on the frame 1 and / or housing assembly are processed using processing equipment according to a preset height and preset angle to form multiple mounting positions with preset height and preset angle.

[0067] Specifically, the detection components include at least one of an ultrasonic sensor 18, a visual sensor, a lidar 21, a millimeter-wave radar, an infrared night vision device, and a thermal imager.

[0068] like Figure 1 As shown, the shell assembly of the existing outdoor work vehicle of this application includes a cover covering the vehicle body, a battery compartment 601 for installing a battery pack or a tail cover 602 on the battery compartment 601, etc., wherein the cover includes a left cover 7 and a right cover 8 disposed on the left side of the existing outdoor work vehicle.

[0069] In some embodiments, the processing equipment includes drilling equipment, such as... Figure 2 and Figure 3 As shown, the processing includes drilling multiple marker points to be processed using a drilling device at a preset height and preset angle.

[0070] In some embodiments, the processing equipment includes an electric drilling machine and an electric grinder.

[0071] In some embodiments, the processing equipment includes a manual hole-making device and sandpaper.

[0072] In some embodiments, determining the installation location on an existing outdoor work vehicle further includes: determining a reserved location on the frame 1 and / or shell assembly of the existing outdoor work vehicle; and preprocessing the reserved location to form an installation position.

[0073] In some embodiments, the preprocessing includes deburring and / or enlarging the reserved locations.

[0074] In some embodiments, it is to be understood that the existing outdoor work vehicle without automatic operation function (basic model vehicle) is provided with a reserved position for upgrading to an intelligent vehicle (upgraded model vehicle) with automatic operation function at the beginning of production and assembly.

[0075] The retrofit method of the present application includes finding the reserved position on the existing outdoor work vehicle without automatic operation function (basic model vehicle), and then pre-processing by relevant processing equipment, such as deburring the reserved position (e.g. mounting hole) by grinding equipment or reaming the reserved position (e.g. mounting hole) by reaming equipment, and then deburring and grinding, etc., so that the reserved position is processed to a shape that meets the height and angle of installing the sensor.

[0076] In some embodiments, the retrofit method of the present application further includes directly installing the connecting assembly on the reserved position (e.g. mounting hole).

[0077] As shown in Figure 4 In some embodiments, the connecting assembly includes a plurality of first connecting members and / or a plurality of second connecting members; and installing the connecting assembly on the installation position includes: arranging a first connecting member or a second connecting member on each of a plurality of installation positions with a preset height and a preset angle, so that the first connecting member or the second connecting member is arranged on the corresponding installation position according to the preset height and the preset angle, forming a first connecting member or a second connecting member with a preset height and a preset angle.

[0078] As shown in Figure 5 In some embodiments, the detection assembly includes a plurality of first sensors, a plurality of second sensors, and a third sensor. Installing the detection assembly on the connecting assembly includes: arranging the plurality of first sensors, the plurality of second sensors, and the third sensor on the first connecting member or the second connecting member with the preset height and the preset angle as needed, so that the plurality of first sensors, the plurality of second sensors, and the third sensor all have a preset detection height and a detection angle.

[0079] In some embodiments, the first sensor is an ultrasonic sensor 18, the second sensor is a visual sensor, and the third sensor is a laser radar 21. In some embodiments, the visual sensor is a monocular camera 19, a binocular camera 20, or a depth camera.

[0080] It is to be understood that the detection height is related to the type (e.g. child, adult) and / or state (e.g. lying down, standing up) of the obstacle. The detection angle is related to whether it covers the four sides of the work vehicle and the size of the detection blind area.

[0081] The layout method of the ultrasonic sensor 18 in some embodiments is described in detail as follows:

[0082] The retrofit method of the present application comprises: arranging a plurality of ultrasonic sensors 18 around the periphery of the existing outdoor work vehicle, and the detection range of the plurality of ultrasonic sensors 18 covers the full angle around the periphery of the existing outdoor work vehicle.

[0083] As shown in Figure 2 and Figure 3 , the retrofit method of the ultrasonic sensor 18 of the present application comprises: opening a plurality of first mounting holes 9 on the vehicle frame 1, the left cover 7, the right cover 8 and the tail cover 602 of the battery compartment 601, and the opening method of the plurality of first mounting holes 9 comprises: determining the mark points to be processed on the vehicle frame 1, the left cover 7, the right cover 8 and the tail cover 602 of the battery compartment 601 according to the required height and angle by positioning equipment, and then processing the mark points to form the first mounting holes 9 by processing equipment.

[0084] So that each of the plurality of first mounting holes 9 is arranged according to the predetermined height and angle, and then a first connecting piece is arranged on each of the plurality of first mounting holes 9, and then one or more ultrasonic sensors 18 are installed on each of the first connecting pieces.

[0085] In some embodiments, the first mounting hole 9 can be a hole with different diameters or different shapes, and the first mounting hole 9 can also be a combination of a plurality of holes.

[0086] As shown in Figure 4 , in some embodiments, the first connecting piece can be one or more of the first mounting bracket 12, the second mounting bracket 13 and the third mounting bracket 14.

[0087] As shown in Figure 4 , in some embodiments, the first mounting bracket 12 is a ring-shaped mounting seat, and the inside of the ring-shaped mounting seat is a hollow structure, and the ultrasonic sensor 18 is installed on the ring-shaped mounting seat by clamping. In some embodiments, the ring-shaped mounting seat can be different ring shapes to cooperate with the outer shape structure of the existing outdoor work vehicle for installation.

[0088] As shown in Figure 4 , in some embodiments, the installation of the ultrasonic sensor 18 can be performed by combining any two or three of the first mounting bracket 12, the second mounting bracket 13 and the third mounting bracket 14 to form a combined bracket. In some embodiments, the retrofit method of the present application further comprises: installing the second mounting bracket 13 on the vehicle frame 1, and then installing the first mounting bracket 12 on the second mounting bracket 13, and installing the ultrasonic sensor 18 on the first mounting bracket 12.

[0089] As shown in Figure 4As shown, in some embodiments, the method for installing the ultrasonic sensor 18 of the present application further comprises opening a first mounting hole 9 on the bracket, then arranging an annular mounting seat on the first mounting hole 9, and then mounting part of the sensor on the annular mounting seat of the bracket.

[0090] In some embodiments, after installation is completed, the height of the ultrasonic sensor 18 located on the frame 1, the left cover 7 and the right cover 8 ranges from 370mm to 380mm. In some embodiments, the height of the ultrasonic sensor 18 located on the frame 1, the left cover 7 and the right cover 8 is 370mm, 373mm or 380mm.

[0091] As shown, in some embodiments, the ultrasonic sensor 18 located on the frame 1, the left cover 7 and the right cover 8 is arranged at a first preset angle relative to the horizontal plane, and the first preset angle ranges from 10° to 20°. Figures 5 to 9 As shown, in some embodiments, the ultrasonic sensor 18 located on the frame 1, the left cover 7 and the right cover 8 is arranged at a first preset angle relative to the horizontal plane, and the first preset angle ranges from 10° to 20°. Figure 13 As shown, in some embodiments, the ultrasonic sensor 18 located on the frame 1, the left cover 7 and the right cover 8 is arranged at a first preset angle relative to the horizontal plane, and the first preset angle ranges from 10° to 20°.

[0092] In some embodiments, after installation is completed, the height of the ultrasonic sensor 18 located on the tail cover 602 of the battery compartment 601 ranges from 345mm to 360mm. Specifically, the height of the ultrasonic sensor 18 located on the tail cover 602 of the battery compartment 601 is 345mm, 346.8mm or 360mm.

[0093] In some embodiments, the ultrasonic sensor 18 located on the tail cover 602 of the battery compartment 601 is arranged at a first preset angle relative to the horizontal plane, and the first preset angle ranges from 10° to 20°. Specifically, the ultrasonic sensor 18 located on the tail cover 602 of the battery compartment 601 is arranged at an angle of 10°, 15° and 20° relative to the horizontal plane.

[0094] In some embodiments, the method for installing the ultrasonic sensor 18 of the present application comprises: arranging 3 ultrasonic sensors 18 on the front side of the existing outdoor work vehicle, and the installation height of the 3 ultrasonic sensors 18 is 373mm and the installation angle relative to the horizontal plane is 15°.

[0095] In some embodiments, the method for installing the ultrasonic sensor 18 of the present application comprises: arranging 3 ultrasonic sensors 18 on the front side of the existing outdoor work vehicle, and the installation height of the 3 ultrasonic sensors 18 is 373mm and the installation angle relative to the horizontal plane is 15°.

[0096] Four ultrasonic sensors 18 are arranged on the rear side of the existing outdoor working vehicle, the height of the four ultrasonic sensors 18 is 346.8 mm, and the installation angle relative to the horizontal plane is 15°.

[0097] As shown in Figure 10 the above, a total of 13 ultrasonic sensors 18 are arranged on the front side, left side, right side and rear side of the existing outdoor working vehicle, among the 13 ultrasonic sensors 18, the detection ranges of any two adjacent ultrasonic sensors 18 at least partially overlap, so that the combination of the 13 ultrasonic sensors 18 covers the full angle around the existing outdoor working vehicle.

[0098] Considering that the vegetation such as grass has a certain height when the existing outdoor working vehicle is working in the working area, in order to avoid the influence of the high grass on the detection result, therefore, the installation parameter of the ultrasonic sensor is configured as the first parameter, and the ultrasonic sensor can also avoid the interference of the grass lower than the preset grass height, or the existing outdoor working vehicle can meet the working ability of performing work on the grass with the preset height.

[0099] It should be understood that, relative to the horizontal plane, the angle size of the preset angle upward is a positive value, and the angle size of the preset angle downward is a negative value. The following angle description is also applicable.

[0100] The layout method of the visual sensor in some embodiments will be described in detail below:

[0101] In some embodiments, the retrofitting method of the present application comprises: arranging a plurality of visual sensors around the existing outdoor working vehicle, and the detection range of the plurality of visual sensors covers the full angle around the existing outdoor working vehicle.

[0102] In some embodiments, the visual sensor comprises a monocular camera 19, a binocular camera 20 or a depth camera.

[0103] As shown in Figure 2 and Figure 3 the retrofitting method of the visual sensor of the present application comprises: a plurality of second mounting holes 10 are formed on the frame 1, the left cover 7, the right cover 8 and the tail cover 602 of the battery compartment 601, and the forming method of the plurality of second mounting holes 10 comprises: determining the mark points to be processed on the frame 1, the left cover 7, the right cover 8 and the tail cover 602 of the battery compartment 601 according to the required height and angle by positioning equipment, and then processing the mark points by processing equipment to form the second mounting hole 10.

[0104] so that each mounting hole in the plurality of second mounting holes 10 is arranged according to the predetermined height and angle, as shown in Figure 4 and then a second connecting piece is arranged on each mounting hole in the plurality of second mounting holes 10, as shown inFigure 5 As shown in FIG. 1, the second mounting hole 10 can be a hole with a diameter of 20mm, and the second mounting hole 10 can be a hole with a diameter of 20mm.

[0105] In some embodiments, the second mounting hole 10 can be a hole with a different diameter or a hole with a different shape, and the second mounting hole 10 can also be a combination of multiple holes.

[0106] As shown in FIG. 1, in some embodiments, the second connecting member can be any one or both of a fourth mounting bracket 15 and a fifth mounting bracket 16. The fourth mounting bracket 15 can also be a ring-shaped mounting seat, and the fifth mounting bracket 16. Figure 4 As shown in FIG. 1, in some embodiments, after installation is complete, the height of the visual sensor located on the frame 1, the left cover 7, the right cover 8, and the tail cover 602 of the battery compartment 601 ranges from 400mm to 680mm. In some embodiments, the height of the visual sensor located on the frame 1, the left cover 7, and the right cover 8 is 400mm, 475mm, 565mm, 640mm, or 680mm.

[0107] Figures 5 to 9 In some embodiments, the visual sensor located on the frame 1, the left cover 7, the right cover 8, and the tail cover 602 of the battery compartment 601 is arranged at a second preset angle relative to the horizontal plane, and the second preset angle ranges from -15° to 5°. Specifically, the second preset angle of the visual sensor located on the frame 1, the left cover 7, the right cover 8, and the tail cover 602 of the battery compartment 601 relative to the horizontal plane is -15°, -11°, -9°, 0°, or 5°.

[0108] In some embodiments, the visual sensor located on the frame 1, the left cover 7, the right cover 8, and the tail cover 602 of the battery compartment 601 is arranged at a second preset angle relative to the horizontal plane, and the second preset angle ranges from -15° to 5°. Specifically, the second preset angle of the visual sensor located on the frame 1, the left cover 7, the right cover 8, and the tail cover 602 of the battery compartment 601 relative to the horizontal plane is -15°, -11°, -9°, 0°, or 5°.

[0109] As shown in FIG. 1, in some embodiments, the second connecting member can be any one or both of a fourth mounting bracket 15 and a fifth mounting bracket 16. The fourth mounting bracket 15 can also be a ring-shaped mounting seat, and the fifth mounting bracket 16. Figure 13 As shown in FIG. 1, in some embodiments, the second connecting member can be any one or both of a fourth mounting bracket 15 and a fifth mounting bracket 16. The fourth mounting bracket 15 can also be a ring-shaped mounting seat, and the fifth mounting bracket 16.

[0110] Figure 5 As shown in FIG. 1, in some embodiments, the second connecting member can be any one or both of a fourth mounting bracket 15 and a fifth mounting bracket 16. The fourth mounting bracket 15 can also be a ring-shaped mounting seat, and the fifth mounting bracket 16.

[0111] As shown in FIG. 1, in some embodiments, the second connecting member can be any one or both of a fourth mounting bracket 15 and a fifth mounting bracket 16. The fourth mounting bracket 15 can also be a ring-shaped mounting seat, and the fifth mounting bracket 16. Figure 7 Figure 9 As shown in FIG. 1, in some embodiments, the second connecting member can be any one or both of a fourth mounting bracket 15 and a fifth mounting bracket 16. The fourth mounting bracket 15 can also be a ring-shaped mounting seat, and the fifth mounting bracket 16. ​​​

[0112] like Figure 13 In some embodiments, the arrangement of a vision sensor located at the front of the existing outdoor work vehicle in the direction of travel of the existing outdoor work vehicle is as follows: it is positioned directly in front of the existing outdoor work vehicle, with an angle of 0° to the direction of travel of the existing outdoor work vehicle. In some embodiments, the vision sensor at the front of the existing outdoor work vehicle is located at the center of the front of the existing outdoor work vehicle.

[0113] The visual sensors located on the left and right sides of the existing outdoor work vehicle are positioned at angles ranging from 60° to 70° relative to the vehicle's direction of travel. In some embodiments, the angles between the visual sensors on the left and right sides of the existing outdoor work vehicle and the vehicle's direction of travel are 60°, 64°, or 70°. In some embodiments, the detection direction of the visual sensors on the left and right sides of the existing outdoor work vehicle is oriented towards the outside of the vehicle.

[0114] The two visual sensors located at the rear of the existing outdoor work vehicle form an angle between the two sensors and the vehicle's direction of travel ranging from 25° to 35°. In some embodiments, the angle between the two visual sensors located at the rear of the existing outdoor work vehicle and the vehicle's direction of travel is 25°, 30°, or 35°. In some embodiments, the detection direction of the visual sensor located at the rear of the existing outdoor work vehicle is oriented towards the outside of the vehicle.

[0115] like Figure 11 As shown, a total of 5 vision sensors are installed on the front, left, right and rear sides of the existing outdoor work vehicle. The detection range of any two adjacent vision sensors overlaps at least partially, so as to achieve full-angle coverage around the existing outdoor work vehicle by combining the 5 vision sensors.

[0116] like Figure 11 As shown, the method for installing the vision sensor in this application includes: installing one monocular camera 19 on the front side of the existing outdoor work vehicle, installing one binocular camera 20 on each of the left and right sides of the existing outdoor work vehicle, and installing two monocular cameras 19 on the rear side of the existing outdoor work vehicle.

[0117] The layout methods of the lidar 21 in some embodiments are described in detail below:

[0118] like Figures 5 to 8 As shown, in some embodiments, the installation method of this application includes: setting a lidar 21 on the front side of an existing outdoor work vehicle, the lidar 21 being used to detect the area in front of the vehicle during the movement of the existing outdoor work vehicle.

[0119] likeFigures 2 to 5 Further, as shown, the method for installing the laser radar 21 of the present application comprises: installing the laser radar 21 on the third connecting member by setting the third mounting hole 11 on the vehicle frame 1 and then installing the third connecting member on the third mounting hole 11.

[0120] As Figure 13 In some embodiments, the third preset angle range of the laser radar 21 relative to the horizontal plane is 0°-5°. In some embodiments, the third preset angle of the laser radar 21 relative to the horizontal plane is 0°, 3° or 5°.

[0121] In some embodiments, the installation height of the laser radar 21 ranges from 615 mm to 635 mm, and in some embodiments, the installation height of the laser radar 21 is 615 mm, 625 mm or 635 mm.

[0122] As Figures 5 to 8 As shown, in some embodiments, the laser radar 21 can also be installed on the second connecting member on the front side of the vehicle frame 1 for installing the visual sensor, so that the laser radar 21 and the visual sensor are arranged one above the other on the same second connecting member. Such arrangement improves the fitting degree of the detected information of the visual sensor and the laser radar 21 when fitting the respective detected information, thereby improving the accuracy of judging the front obstacle and accurately obtaining the category of the obstacle.

[0123] As Figures 5 to 8 As shown, in some embodiments, the second connecting member further comprises a sixth mounting bracket 17 connected between the left cross beam and the right cross beam of the vehicle frame 1.

[0124] As Figure 12 As shown, the computing power master module 31 is installed on the existing outdoor working vehicle, and the computing power master module 31 is connected with the detection assembly and the vehicle controller 33 on the existing outdoor working vehicle.

[0125] As Figure 12 As shown, the computing power master module 31 in the present application is configured to partially or completely receive and process the information of the detection assembly, and transmit the processed information to the vehicle controller 33, and the vehicle controller 33 is configured to control the operation of the intelligent outdoor working vehicle with fully automatic working function according to the information transmitted by the computing power master module 31.

[0126] As Figure 12 As shown, in some embodiments, part of the information of the detection assembly is transmitted to the computing power master module 31 for processing, and another part of the information of the detection assembly is transmitted to the vehicle controller 33 for processing.

[0127] As Figure 12As shown, in some embodiments, the ultrasonic sensor 18 of this application is signal-connected to the vehicle controller 33, and the vehicle controller 33 controls the operation of the walking assembly 5 and the cutting assembly 4 according to the signal from the ultrasonic sensor 18. Specifically, the vehicle controller 33 controls the walking assembly 5 to brake or turn according to the signal from the ultrasonic sensor 18, and the vehicle controller 33 controls the cutting assembly 4 to decelerate or stop according to the signal from the ultrasonic sensor 18.

[0128] In some embodiments, the visual sensors (monocular camera 19 and binocular camera 20) and LiDAR 21 of this application are both signal-connected to the computing power control module 31. The computing power control module 31 performs algorithm processing (including AI large model processing) based on the signals from the visual sensors and LiDAR 21, and then transmits the processed signals to the vehicle controller 33. The vehicle controller 33 then performs corresponding actions such as controlling the walking component 5 to brake or turn, and controlling the cutting component 4 to decelerate or stop. In some embodiments, the brake in this application is an electronic brake.

[0129] like Figure 14 As shown, in some embodiments, to further improve the fitting degree of the detection information between the visual sensor and the lidar 21, the mounting method of this application further includes: providing a periscope structure 30, by setting one end of the periscope structure 30 on the mask 2101 of the lidar 21, and connecting the other end of the periscope structure 30 to the camera of the visual sensor, so that the periscope structure 30 transmits the information acquired by it on the mask 2101 of the lidar 21 to the visual sensor. In this way, by physically aligning them, the distance between the laser emitting end 2102 of the lidar 21 and the lens of the periscope structure 30 is minimized as much as possible. The periscope structure 30 then transmits the information entering the periscope structure 30 tube to the visual sensor, thus making the light-collecting point distance between the lidar 21 and the visual sensor closer, further improving the fitting degree of their detection information.

[0130] In the installation method of this application, the front and rear wheels of the existing outdoor work vehicle can be replaced with new front and rear wheels composed of hub motors. According to actual usage requirements, ultrasonic sensors 18, vision sensors, lidar 21, millimeter-wave radar, infrared night vision devices, thermal imagers or microwave radars can be installed on the hub motors to improve the existing outdoor work vehicle's ability to detect the external environment, reduce blind spots, and improve the safety of the existing outdoor work vehicle during operation.

[0131] In some embodiments, the retrofit method of the present application further comprises disassembling the components on the existing outdoor work vehicle to which the interference connection assembly, the detection assembly, and the computing power master module 31 are installed, and after the retrofit is completed, the disassembled components are reinstalled on the upgraded intelligent outdoor work vehicle or are not reinstalled.

[0132] As shown in Figures 8 to 9 some embodiments, the existing outdoor work vehicle of the present application can also use the RTK system 32 for position positioning. The RTK system 32 includes a satellite positioning receiving antenna 22, a satellite positioning mobile station, and an RTK base station. The satellite positioning receiving antenna 22 and the satellite positioning mobile station are used to be installed on the movable work vehicle, and the RTK base station is used to be fixed at a certain position in the work area.

[0133] In some embodiments, the retrofit method of the present application further comprises installing a satellite positioning receiving antenna 22 for receiving satellite positioning signals and a satellite positioning mobile station for processing satellite positioning signals on the existing outdoor work vehicle. The satellite positioning receiving antenna 22 is used to receive satellite signals and transmit the received satellite signals to the satellite positioning mobile station, and the satellite positioning mobile station is in signal connection with the computing power master module 31.

[0134] The satellite positioning mobile station can also be other satellite positioning mobile stations, or other positioning devices that can cooperate with the RTK base station to realize real-time positioning function. The satellite positioning receiving antenna 22 transmits the received satellite signals to the satellite positioning mobile station together with the satellite signals received by the RTK base station. Then the satellite positioning mobile station applies differential data to correct the satellite positioning coordinates (i.e. the positioning coordinates of the intelligent outdoor work vehicle), and outputs to the computing power master module, thereby realizing the positioning of the outdoor work vehicle.

[0135] Among them, the whole vehicle controller 33 can control the outdoor work vehicle to perform driving, map calibration, calling, offset, and mowing operation and / or functions, and realize the intelligent driving function or automatic operation function of the outdoor work vehicle. The whole vehicle controller 33 can further include a map generation and management module, a trajectory planning module, and a mowing operation control module, etc.

[0136] As shown in Figure 7 some embodiments, the satellite positioning receiving antenna 22 is provided with two satellite positioning receiving antennas 22, and the distance between the two satellite positioning receiving antennas 22 is 260mm-650mm. In some embodiments, the distance between the two satellite positioning receiving antennas 22 is 260mm, 380mm, or 650mm.

[0137] In some embodiments, the two satellite positioning receiving antennas 22 are arranged to identify the positions of two points on the intelligent outdoor working vehicle during operation, so as to determine the orientation of the intelligent outdoor working vehicle, and facilitate the intelligent outdoor working vehicle to adjust the walking direction of the intelligent outdoor working vehicle according to the actual operation direction.

[0138] As shown in Figure 8 some embodiments, the two satellite positioning receiving antennas 22 are arranged in parallel or perpendicular to the running direction of the existing outdoor working vehicle. The satellite positioning receiving antennas 22 can be installed on the front side, rear side or other installable positions of the existing outdoor working vehicle.

[0139] As shown in Figure 6 and Figure 7 some embodiments, the satellite positioning receiving antennas 22 can be directly installed on the vehicle frame 1, the seat 3 or the battery compartment 601. In some embodiments, the satellite positioning receiving antennas 22 can also be directly or indirectly installed on the sixth mounting bracket 17.

[0140] In some embodiments, the retrofit method of the existing outdoor working vehicle of the present application is not only limited to the existing outdoor working vehicle driven by the battery pack and the like, but also can be the existing outdoor working vehicle driven by fuel or other driving modes.

[0141] Please refer to Figure 1 the existing outdoor working vehicle in some embodiments disclosed by the present application, which includes a vehicle frame 1, an operation assembly 2, a seat 3, a working assembly 4, a walking assembly 5 and an energy source system 6.

[0142] The vehicle frame 1 is arranged in a straight line direction, and the operation assembly 2, the seat 3, the working assembly 4, the walking assembly 5 and the energy source system 6 are arranged at different positions on the vehicle frame 1.

[0143] The operation assembly 2 includes a left operation lever 201 arranged on the left side of the existing outdoor working vehicle and a right operation lever 202 arranged on the right side of the existing outdoor working vehicle, and the operator controls the existing outdoor working vehicle to move forward, backward or turn by controlling the left operation lever 201 and the right operation lever 202. The operation assembly 2 can also be a steering wheel capable of controlling the existing outdoor working vehicle.

[0144] In some embodiments, the operation assembly 2 is provided with a control button for adjusting the running speed of the working assembly 4 and the walking assembly 5, so as to facilitate the operator to quickly and accurately control the running of the existing outdoor working vehicle. Further, the operation assembly 2 can also be provided with a button for adjusting the brightness of the vehicle lamp 24 of the existing outdoor working vehicle, a button for adjusting the rotating speed of the cutter, etc.

[0145] The seat 3 is arranged on the frame 1, and the left operating lever 201 and the right operating lever 202 are arranged close to the seat 3 and respectively on the left and right sides of the seat 3, so that an operator sitting on the seat 3 can control the left operating lever 201 and the right operating lever 202 to control the operation of the existing outdoor work vehicle.

[0146] The work assembly 4 is a workpiece for realizing a tool function. In an embodiment, the existing outdoor work vehicle is a riding mower, and the work assembly 4 is a cutting assembly arranged below the frame 1. The cutting assembly is used to output power to realize the mowing function of the riding mower.

[0147] In some embodiments, the cutting assembly includes a cutter head, a mowing element, and a cutting motor. The cutting motor is controlled by a control button on the operating assembly 2, and the mowing element is used to cut vegetation such as grass at high speed. For example, the mowing element is a blade for cutting vegetation on a lawn. The cutter head is formed with a mowing space for accommodating the mowing element, and the mowing element is at least partially located in the mowing space.

[0148] The work assembly 4 can also be detached from the existing outdoor work vehicle. It can be understood that the work assembly 4 can be replaced by other assemblies to meet the use requirements of different garden work. Therefore, the outdoor work equipment can not only cut vegetation, but also replace the cutting assembly with a snow shoveling, snow sweeping, snow blowing, or flushing functional component. Those skilled in the art can adaptively replace various functional components without creative labor, and all of the above should be included in the protection scope of the present embodiment.

[0149] When the cutting assembly is replaced by a snow shoveling, snow sweeping, or snow blowing functional component, the energy source system 6 of the existing outdoor work vehicle of the present application can also power the above-mentioned snow shoveling, snow sweeping, or snow blowing functional component.

[0150] It can be understood that the existing outdoor work vehicle can also be other vehicles that walk outdoors, such as a multipurpose vehicle, a beach buggy, a farmer's car, and a golf car. The existing outdoor work vehicle can also be an agricultural machinery vehicle, such as a harvester or a pesticide spraying vehicle.

[0151] The walking assembly 5 includes walking wheels arranged on the frame 1 and a walking motor for driving the walking wheels. The walking wheels are arranged on both sides of the frame 1, so that the center of gravity of the existing outdoor work vehicle is kept within the frame 1, to reduce the probability of the existing outdoor work vehicle rolling over when walking.

[0152] In an embodiment, the number of walking wheels is set to 4, including 2 front walking wheels and 2 rear walking wheels. The front walking wheels can be universal wheels, and the walking motor is drivingly connected with the rear walking wheels to drive the rear walking wheels to rotate. The two rear walking wheels are matched with the walking motor, and the walking motor can be a hub motor. The rotation speeds of the two walking motors can be the same or different. When the operator drives the existing outdoor work vehicle in a straight line, the rotation speeds of the two walking motors are substantially the same. When the operator drives the existing outdoor work vehicle to turn, the rotation speeds of the two walking motors are different, and the existing outdoor work vehicle turns to the side with a lower rotation speed of the walking motor. The diameter of the front walking wheel is smaller than that of the rear walking wheel.

[0153] The energy source system 6 is arranged at the rear side of the vehicle frame 1. The energy source system 6 includes a plurality of battery packs, a power management device configured to uniformly integrate and control the charging and discharging process of the plurality of battery packs, and a battery compartment 601 for mounting the plurality of battery packs. The plurality of battery packs are electrically connected to the external terminals on the battery compartment 601 through the terminals thereon to supply power to the existing outdoor work vehicle. The plurality of battery packs include first type battery packs and second type battery packs. Further, the battery compartment 601 can be configured to accommodate the first type battery packs and the second type battery packs with different capacities or different sizes to increase the adaptability of the existing outdoor work vehicle to different types of battery packs. At least one of the battery packs can be detached from the existing outdoor work vehicle to supply power to other handheld power tools or energy storage devices, thereby increasing the versatility of the battery packs. In some embodiments, the first type battery packs include ternary lithium battery packs, and the second type battery packs include iron lithium phosphate battery packs.

[0154] In some embodiments, the present application also provides a retrofit system for an existing outdoor work vehicle. The retrofit system is used to upgrade an existing outdoor work vehicle that does not have or does not have complete automatic work function to a smart outdoor work vehicle with complete automatic work function. The existing outdoor work vehicle includes a vehicle frame 1, a shell assembly at least partially configured to cover the vehicle frame 1, a walking assembly 5 configured to support the existing outdoor work vehicle to walk, a work assembly 4 configured to perform outdoor work, an energy source system 6 at least configured to provide a power source for the existing outdoor work vehicle, and a vehicle controller 33 at least configured to control the existing outdoor work vehicle to walk and / or perform outdoor work in a predetermined direction.

[0155] The add-on system comprises: a connecting assembly arranged on the vehicle frame 1 and / or the housing assembly; a detection assembly arranged on the connecting assembly, the detection assembly being configured to monitor the environment around the existing outdoor work vehicle; a computing power master control module 31 connected to the detection assembly and the vehicle controller 33, the computing power master control module being used at least to process the detection information of the detection assembly and transmit the processed information to the vehicle controller 33, and the vehicle controller 33 controls the operation of the walking assembly 5 and / or the work assembly 4 according to the detection information.

[0156] It should be noted that the intelligent outdoor work vehicle in the present application is obtained by upgrading the existing outdoor work vehicle by adding, and therefore, the vehicle components on the vehicle frame 1, the operating assembly 2, the seat 3, the work assembly 4, the walking assembly 5, the energy source system 6, and the housing assembly (the left cover 7, the right cover 8, and the tail cover 602) of the existing outdoor work vehicle are the same, and only individual mounting holes or mounting positions are arranged on the corresponding components due to installation requirements, and the essential functions are not changed. Therefore, the reference numerals related to the above components are not distinguished between the existing outdoor work vehicle and the intelligent outdoor work vehicle in the present application.

[0157] The existing outdoor work vehicle disclosed in the present application without automatic work function can be understood as follows: the existing outdoor work vehicle needs to be manually judged and operated to realize walking (including forward movement, reverse movement, and turning), work (including starting and stopping and lifting the work assembly 4), and braking in the work area, and the vehicle only has simple adaptive cruise, vehicle speed detection, and reverse detection (including setting a reverse radar) functions.

[0158] The existing outdoor work vehicle with incomplete automatic work function can be understood as follows: the existing outdoor work vehicle is only installed with part of the auxiliary driving sensors (for example, one or two of the ultrasonic sensor 18, the visual sensor, and the laser radar 21 are installed on the existing outdoor work vehicle), has a semi-automatic operation function, and can only perform corresponding automatic cruise and obstacle recognition and judgment under simple conditions. The driver can be temporarily freed from holding the steering wheel, but must be ready for manual intervention and control at any time. Of course, it can also include that the existing outdoor work vehicle realizes part of the automatic driving operation in a specific environment, and can judge whether to automatically drive in part of the area or return to manual operation according to the road condition.

[0159] The intelligent outdoor work vehicle with complete automatic work function can be understood as follows: it belongs to high-level automatic driving and can realize driving without any operation of personnel. However, it is also subject to certain restrictions, such as limiting the vehicle speed to a certain value and the driving area being relatively fixed. It generally needs to rely on real-time update of information data of the work area to realize automatic pick-up and drop-off, automatic formation cruise, and automatic obstacle avoidance (including automatic lifting of the work assembly 4 and turning of the vehicle).

[0160] In some embodiments, the frame 1 and / or the housing assembly is provided with a plurality of mounting positions with preset height and preset angle. In some embodiments, the plurality of mounting positions are provided by at least one of the first mounting hole 9, the second mounting hole 10 and the third mounting hole 11. Of course, the mounting positions are not limited to be holes, but can also be grooves or other structures that can meet the installation of sensors.

[0161] As shown in FIGS. 1, 2 and 3, in some embodiments, the connection assembly comprises a first connection member and a second connection member, both of which can be installed in the plurality of mounting positions with preset height and preset angle. Figure 4 Figure 5 As shown in FIGS. 1, 2 and 3, in some embodiments, the detection assembly comprises a plurality of first sensors and a plurality of second sensors, both of which can be installed on the first connection member or the second connection member with preset height and preset angle, and both of which have preset detection height and detection angle.

[0162] As shown in FIGS. 1, 2 and 3, in some embodiments, the detection assembly comprises a plurality of first sensors and a plurality of second sensors, both of which can be installed on the first connection member or the second connection member with preset height and preset angle, and both of which have preset detection height and detection angle. Figures 5 to 9 In some embodiments, the sum of the detection ranges of the plurality of first sensors covers the full angle around the existing outdoor working vehicle.

[0163] In some embodiments, the sum of the detection ranges of the plurality of second sensors covers the full angle around the existing outdoor working vehicle.

[0164] In some embodiments, the detection ranges of any two adjacent sensors among the plurality of first sensors and the plurality of second sensors at least partially overlap.

[0165] In some embodiments, the detection direction of the first sensor is set at a first preset angle relative to the horizontal plane, and the detection direction of the second sensor is set at a second preset angle relative to the horizontal plane. In some embodiments, the first preset angle ranges from 10° to 20°, and in some embodiments, the first preset angle is 10°, 15° or 20°. The second preset angle ranges from -15° to 5°, and in some embodiments, the second preset angle is -15°, -11°, -9°, 0° or 5°. In some embodiments, the height range of the first sensor installation is 250mm to 280mm, and the height range of the second sensor installation is 400mm to 680mm. In some embodiments, the first sensor comprises an ultrasonic sensor 18, and the second sensor comprises a monocular camera 19, a multi-view camera or a depth camera.

[0166] As shown in FIGS. 1, 2 and 3, in some embodiments, the detection assembly comprises a plurality of first sensors and a plurality of second sensors, both of which can be installed on the first connection member or the second connection member with preset height and preset angle, and both of which have preset detection height and detection angle.

[0167] Figure 6 As shown in FIGS. 1, 2 and 3, in some embodiments, the detection assembly comprises a plurality of first sensors and a plurality of second sensors, both of which can be installed on the first connection member or the second connection member with preset height and preset angle, and both of which have preset detection height and detection angle. Figure 8 ​​As shown in some embodiments, the first sensor is an ultrasonic sensor 18. In the present application, three ultrasonic sensors 18 are arranged on the front side of the existing outdoor work vehicle. The installation height of the three ultrasonic sensors 18 is 373 mm, and the installation angle relative to the horizontal plane is 15°.

[0168] As shown in some embodiments, the first sensor is an ultrasonic sensor 18. In the present application, three ultrasonic sensors 18 are arranged on the front side of the existing outdoor work vehicle. The installation height of the three ultrasonic sensors 18 is 373 mm, and the installation angle relative to the horizontal plane is 15°. Figure 7 As shown in some embodiments, the first sensor is an ultrasonic sensor 18. In the present application, three ultrasonic sensors 18 are arranged on the front side of the existing outdoor work vehicle. The installation height of the three ultrasonic sensors 18 is 373 mm, and the installation angle relative to the horizontal plane is 15°.

[0169] As shown in some embodiments, the first sensor is an ultrasonic sensor 18. In the present application, three ultrasonic sensors 18 are arranged on the front side of the existing outdoor work vehicle. The installation height of the three ultrasonic sensors 18 is 373 mm, and the installation angle relative to the horizontal plane is 15°. Figure 9 As shown in some embodiments, the first sensor is an ultrasonic sensor 18. In the present application, three ultrasonic sensors 18 are arranged on the front side of the existing outdoor work vehicle. The installation height of the three ultrasonic sensors 18 is 373 mm, and the installation angle relative to the horizontal plane is 15°.

[0170] Figure 10 As shown in some embodiments, the first sensor is an ultrasonic sensor 18. In the present application, three ultrasonic sensors 18 are arranged on the front side of the existing outdoor work vehicle. The installation height of the three ultrasonic sensors 18 is 373 mm, and the installation angle relative to the horizontal plane is 15°.

[0171] It should be understood that, relative to the horizontal plane, the angle size of the preset angle upward is a positive value, and the angle size of the preset angle downward is a negative value. The following angle descriptions also apply.

[0172] In some embodiments, the ultrasonic sensor 18 is configured to detect children, adults and other obstacles within a range of 1 m.

[0173] As shown in some embodiments, the first sensor is an ultrasonic sensor 18. In the present application, three ultrasonic sensors 18 are arranged on the front side of the existing outdoor work vehicle. The installation height of the three ultrasonic sensors 18 is 373 mm, and the installation angle relative to the horizontal plane is 15°. Figures 5 to 8 As shown in some embodiments, the first sensor is an ultrasonic sensor 18. In the present application, three ultrasonic sensors 18 are arranged on the front side of the existing outdoor work vehicle. The installation height of the three ultrasonic sensors 18 is 373 mm, and the installation angle relative to the horizontal plane is 15°.

[0174] Figures 5 to 9 As shown in some embodiments, the first sensor is an ultrasonic sensor 18. In the present application, three ultrasonic sensors 18 are arranged on the front side of the existing outdoor work vehicle. The installation height of the three ultrasonic sensors 18 is 373 mm, and the installation angle relative to the horizontal plane is 15°.

[0175] As​​Figure 9 As shown, two visual sensors are arranged on the rear side of the existing outdoor working vehicle, the installation height of the two visual sensors is 475 mm, and the angle relative to the horizontal plane is -9°.

[0176] As shown, in some embodiments, in the travel direction of the existing outdoor working vehicle of the present application, the arrangement of the visual sensor located on the front side of the existing outdoor working vehicle is that it is arranged in the front of the existing outdoor working vehicle, and the included angle with the travel direction of the existing outdoor working vehicle is 0°. Figure 13 The included angle of the visual sensors located on the left and right sides of the existing outdoor working vehicle with the travel direction of the existing outdoor working vehicle ranges from 60° to 70°. In some embodiments, the included angle of the visual sensors located on the left and right sides of the existing outdoor working vehicle with the travel direction of the existing outdoor working vehicle is 60°, 64° or 70°.

[0177] The included angle of the two visual sensors located on the rear side of the existing outdoor working vehicle with the travel direction of the existing outdoor working vehicle ranges from 25° to 35°. In some embodiments, the included angle of the two visual sensors located on the rear side of the existing outdoor working vehicle with the travel direction of the existing outdoor working vehicle is 25°, 30° or 35°.

[0178] As shown, the above, five visual sensors are arranged on the front side, left side, right side and rear side of the existing outdoor working vehicle, and the detection ranges of any two adjacent visual sensors in the five visual sensors at least partially overlap, so as to realize the full-angle coverage of the combination of the five visual sensors around the existing outdoor working vehicle.

[0179] Figure 11 As shown, further, the retrofit system of the existing outdoor working vehicle of the present application further comprises one monocular camera 19 located on the front side of the vehicle, one binocular camera 20 located on each of the left and right sides of the existing outdoor working vehicle, and two monocular cameras 19 located on the rear side of the existing outdoor working vehicle.

[0180] As shown, further, the retrofit system of the existing outdoor working vehicle of the present application further comprises one monocular camera 19 located on the front side of the vehicle, one binocular camera 20 located on each of the left and right sides of the existing outdoor working vehicle, and two monocular cameras 19 located on the rear side of the existing outdoor working vehicle. Figure 7 Figure 11 In some embodiments, the retrofit system of the existing outdoor working vehicle of the present application further comprises a third sensor for being arranged on the front side of the existing outdoor working vehicle. The purposes of the third sensor include but are not limited to detecting the area in front of the vehicle during the travel of the outdoor working vehicle.

[0181] In some embodiments, the visual sensor of the present application is configured to detect at least obstacles within a range of 5 m.

[0182] In some embodiments, the visual sensor of the present application is configured to detect at least obstacles within a range of 5 m.

[0183] ​​In some embodiments, the third sensor is disposed at a third preset angle relative to the horizontal plane. In some embodiments, the third sensor is a laser radar 21.

[0184] In some embodiments, the third preset angle of the laser radar 21 relative to the horizontal plane ranges from 0° to 5°. In some embodiments, the third preset angle of the laser radar 21 relative to the horizontal plane is 0°, 3°, or 5°.

[0185] In some embodiments, the installation height of the laser radar 21 ranges from 615 mm to 635 mm. In some embodiments, the installation height of the laser radar 21 is 615 mm, 625 mm, or 635 mm.

[0186] In some embodiments, the laser radar 21 is configured to detect obstacles within a range of 20 m, and cooperates with the visual sensor to make a higher-precision identification and judgment, so as to make a driving obstacle avoidance strategy such as deceleration or avoidance in advance.

[0187] In some embodiments, the detection distance of the above-mentioned sensors is not less than the braking distance of the upgraded intelligent outdoor working vehicle.

[0188] As shown in Figure 8 , Figure 9 and Figure 12 , in some embodiments, the existing outdoor working vehicle of the present application is further provided with a satellite positioning receiving antenna 22 for receiving a satellite positioning signal and a satellite positioning mobile station for processing the satellite positioning signal. The satellite positioning receiving antenna 22 is used to receive a satellite signal and transmit the received satellite signal to the satellite positioning mobile station, and the satellite positioning mobile station is in signal connection with the computing power master module 31.

[0189] As shown in Figure 12 , the satellite positioning mobile station can also be other satellite positioning mobile or other positioning device that can cooperate with the RTK base station to realize real-time positioning function. The satellite positioning receiving antenna 22 transmits the received satellite signal and the satellite signal received by the RTK base station to the satellite positioning mobile station. Then the satellite positioning mobile station applies the differential data of both to correct the satellite positioning coordinates (i.e. the positioning coordinates of the intelligent outdoor working vehicle) and outputs to the computing power master module 31, thereby realizing the positioning of the outdoor working vehicle.

[0190] Among them, the whole vehicle controller 33 can control the outdoor working vehicle to perform driving, map calibration, calling, offset, and mowing operation and / or functions, and realize the intelligent driving function or automatic operation function of the outdoor working vehicle. The whole vehicle controller 33 can further include a map generation and management module, a trajectory planning module, and a mowing operation control module, etc.

[0191] In some embodiments, the satellite positioning receiving antenna 22 is provided with two, and the distance between the two satellite positioning receiving antennas ranges from 260mm to 650mm. In some embodiments, the distance between the two satellite positioning receiving antennas is 260mm, 380mm or 650mm.

[0192] As shown in Figure 8 some embodiments, the two satellite positioning receiving antennas are arranged in parallel or perpendicular to the direction of travel of the existing outdoor work vehicle. The satellite positioning receiving antenna can be installed on the front side, rear side or other installable position of the existing outdoor work vehicle. Further, the satellite positioning receiving antenna can be directly installed on the vehicle frame 1, the seat 3 or the battery compartment 601.

[0193] In some embodiments, the two satellite positioning receiving antennas 22 are arranged in parallel or perpendicular to the direction of travel of the existing outdoor work vehicle.

[0194] In some embodiments, the signal connection between the detection assembly and the computing power master module 31 and the vehicle controller 33 can be wireless communication connection in addition to wire harness connection.

[0195] As shown in Figure 14 some embodiments, in order to further improve the fitting degree of the detection information of the visual sensor and the laser radar 21, the existing outdoor work vehicle adding system of the present application further comprises: providing a periscope structure 30, by arranging one end of the periscope structure 30 on the mask 2101 of the laser radar 21, and connecting the other end of the periscope structure 30 with the camera of the visual sensor, so that the periscope structure 30 transmits the information obtained by it on the mask 2101 of the laser radar 21 to the visual sensor. In some embodiments, in this way, by means of close physical position, the laser emitting head of the laser radar 21 and the lens of the periscope structure 30 are minimized as much as possible, and the periscope structure 30 transmits the information entering the periscope structure 30 tube to the visual sensor, so that the light taking point distance of the laser radar 21 and the visual sensor is closer, further improving the fitting degree of the detection information of the two, and further improving the accuracy of the detection information of the existing outdoor work vehicle around.

[0196] In some embodiments, the existing outdoor work vehicle adding system of the present application further comprises a wheel hub motor, by replacing the front and rear walking wheels of the existing outdoor work vehicle with new front and rear walking wheels composed of wheel hub motors, and according to the actual use demand, setting ultrasonic sensors 18, visual sensors, laser radars 21, millimeter wave radars, infrared night vision instruments, thermal imagers or microwave radars on the wheel hub motors, to improve the detection ability of the existing outdoor work vehicle to the external environment, reduce the detection blind area, and improve the safety of the existing outdoor work vehicle during operation.

[0197] As shown in Figure 6 and Figure 10 In some embodiments, the present application also provides an intelligent outdoor working vehicle obtained by the above-mentioned retrofitting method and retrofitting system, the intelligent outdoor working vehicle comprising: a walking assembly 5 configured to support the intelligent outdoor working vehicle to walk, the walking assembly 5 comprising: a first walking wheel 501 capable of rotating about a first axis 28; a second walking wheel 502 capable of rotating about a second axis 29; a working assembly 4 configured to perform outdoor work; and a plurality of sensors configured to support the intelligent outdoor working vehicle to automatically travel in a working area, the number Y of sensors arranged on the intelligent outdoor working vehicle being calculated according to the following formula:

[0198]

[0199] wherein L is the distance between the first axis 28 and the second axis 29, 1.5 m≥L≥1 m; X is the working range of the working assembly 4 in the direction of travel of the intelligent outdoor working vehicle, 60 inch≥X≥30 inch; represents a floor operation, represents a ceiling operation.

[0200] In some embodiments, when L is 1.2 m and X is 42 inch, the number Y of sensors arranged around the intelligent outdoor working vehicle is 11, 12 or 13.

[0201] In some embodiments, the walking assembly 5 comprises the first walking wheel 501 capable of rotating about the first axis 28 and the second walking wheel 502 capable of rotating about the second axis 29, the first walking wheel 501 has a larger wheel diameter than the second walking wheel 502; in the direction of travel of the intelligent outdoor working vehicle, sensors are arranged at both ends of the first walking wheel 501; the detection range between the sensor at one end of the first walking wheel 501 and the sensor at the other end of the walking wheel at least partially overlaps. In the case of a larger wheel diameter of the first walking wheel 501, arranging sensors at both ends of the first walking wheel 501 helps to reduce the blind area of sensor detection and improve the accuracy of sensor detection.

[0202] In some embodiments, the first walking wheel 501 is the rear walking wheel and the second walking wheel 502 is the front walking wheel.

[0203] In some embodiments, the detection distance of the sensor in the horizontal direction is 0.1 m-20 m. In some embodiments, the detection range of the sensor in the horizontal direction is 0.1 m, 0.3 m, 0.5 m, 2 m, 5 m, 12 m or 20 m.

[0204] In some embodiments, the detection distance of the sensor in the vertical direction perpendicular to the horizontal direction is 0.1m-5m. In some embodiments, the detection distance of the sensor in the vertical direction perpendicular to the horizontal direction is 0.1m, 0.3m or 0.5m, 2m or 5m.

[0205] In some embodiments, the sensor is at least one of an ultrasonic sensor 18, a visual sensor and a laser radar 21.

[0206] In order to avoid the influence of the height of the cut grass on the detection result, in some embodiments, the detection height of the sensor is not less than 0.1m, and in some embodiments, the detection height of the sensor is 0.1m, 0.14m or 0.15m.

[0207] In some embodiments, a plurality of sensors are arranged around the circumference of the intelligent outdoor working vehicle. In some embodiments, the sensor is an ultrasonic sensor 18, and a plurality of ultrasonic sensors 18 are arranged around the intelligent outdoor working vehicle, and the sum of the detection ranges of the plurality of ultrasonic sensors 18 covers the full angle around the intelligent outdoor working vehicle.

[0208] In some embodiments, the number of sensors is 4-30. In some embodiments, the number of sensors is 4, 13, 20 or 30. Further, one sensor is arranged on the front side, left side, right side and rear side of the intelligent outdoor working vehicle.

[0209] In some embodiments, the detection ranges of any two adjacent sensors in the plurality of sensors at least partially overlap.

[0210] In some embodiments, the intelligent outdoor working vehicle of the present application further comprises a computing power main control module 31, which is signal connected with the plurality of sensors and a vehicle controller 33 on the intelligent outdoor working vehicle, the computing power main control module 31 is used for processing the sensing information of the plurality of sensors, and the processed information is transmitted to the vehicle controller 33, and the vehicle controller 33 controls the operation of the walking assembly 5 and / or the working assembly 4 according to the information.

[0211] As Figure 7As shown, in some embodiments, this application also provides an intelligent outdoor work vehicle. The intelligent outdoor work vehicle is obtained through the above-described installation method and system. The intelligent outdoor work vehicle includes: an energy source system 6 configured to supply power to the intelligent outdoor work vehicle, the energy source system 6 including at least one of a first type battery pack and a second type battery pack, at least one of the first type battery pack and the second type battery pack being detachably installed on the intelligent outdoor work vehicle and, after removal, can be used to power a handheld power tool; a work component 4 configured to perform outdoor work; a walking component 5 configured to support the intelligent outdoor work vehicle to walk, the walking component 5 including a first walking wheel 501 rotatable about a first axis 28 and a second walking wheel 502 rotatable about a second axis 29, the wheel diameter of the first walking wheel 501 being larger than the wheel diameter of the second walking wheel 502; and a plurality of ultrasonic sensors 18 disposed on the intelligent outdoor work vehicle, the plurality of ultrasonic sensors 18 being located on the outer sides of both ends of the first walking wheel 501 in the direction of travel of the intelligent outdoor work vehicle.

[0212] like Figure 10 As shown, in some embodiments, in the direction of travel of the intelligent outdoor work vehicle, the detection range of the ultrasonic sensor 18 located at one end of the first walking wheel 501 and the ultrasonic sensor 18 located at the other end of the first walking wheel 501 at least partially overlap.

[0213] In some embodiments, the diameter of the first traveling wheel 501 ranges from 350mm to 800mm. In some embodiments, the diameter of the first traveling wheel 501 ranges from 350mm, 500mm, 600mm, or 800mm.

[0214] like Figure 6 As shown, in some embodiments, the vertical distance between any one of the plurality of ultrasonic sensors 18 and the first axis 28 is at least 190 mm. In some embodiments, the vertical distance between any one of the plurality of ultrasonic sensors 18 and the first axis 28 is at least 190 mm, 230 mm, or 260 mm.

[0215] In some embodiments, a visual sensor is also included, located above the first wheel 501 and between its two ends in the direction of travel of the intelligent outdoor work vehicle. With the ultrasonic sensor 18 positioned at the front and rear ends of the first wheel 501, placing the visual sensor above the first wheel 501 helps to reduce the detection blind zone near the first wheel 501, expand the detection range, and improve detection accuracy.

[0216] like Figure 16As shown, in some embodiments, the intelligent outdoor working vehicle of the present application, obtained through the above-mentioned retrofitting method and retrofitting system, comprises: a walking assembly 5 configured to support the intelligent outdoor working vehicle to walk; a working assembly 4 configured to perform outdoor work; an energy source system 6 configured to supply energy for the intelligent outdoor working vehicle, the energy source system 6 comprising at least one of a first type of battery pack and a second type of battery pack with different capacitances; a plurality of sensors, each sensor comprising an axis 27 along the signal emission direction in the overhead direction of the intelligent outdoor working vehicle; in the three adjacent sensors of at least one side of the front side, the rear side, the left side and the right side of the intelligent outdoor working vehicle, the intersection of the axis 27 of the middle sensor and the axis 27 of one of its adjacent sensors is a first intersection 25, and the intersection of the axis 27 of the middle sensor and the axis 27 of the other of its adjacent sensors is a second intersection 26, the first intersection 25 and the second intersection 26 are respectively located on both sides of the three adjacent sensors.

[0217] In some embodiments, reference is made to the accompanying drawings Figure 16 In the direction of travel of the intelligent outdoor working vehicle, the first intersection 25 of the axes 27 of the two sensors closer to the rear of the vehicle in the three adjacent sensors is located on one side of the three adjacent sensors, and the distance between the two sensors is set to be closer, so that the detection blind area between the two sensors and close to the outer contour of the vehicle is smaller. The second intersection 26 of the axes 27 of the two sensors closer to the front of the vehicle in the three adjacent sensors is located on the other side of the three adjacent sensors, and the detection edges of the two sensors are close to the outer contour of the vehicle, thereby reducing the detection blind area between the two sensors and close to the outer contour of the vehicle.

[0218] As Figure 12 As shown, in some embodiments, the present application further comprises a computing power master module 31 for receiving and processing information of the sensors, and a vehicle controller 33 for controlling the intelligent outdoor working vehicle to walk and / or perform outdoor work in a predetermined direction, the vehicle controller 33 being capable of controlling the operation of the walking assembly 5 and / or the working assembly 4 according to the information received by the computing power master module 31.

[0219] As Figure 6 and Figure 7As shown, in some embodiments, the present application also provides a smart outdoor working vehicle with a collision detection device 23, which is obtained through the above-mentioned retrofitting method and retrofitting system. The smart outdoor working vehicle comprises: a vehicle frame 1, wherein an energy source system 6 is arranged on the vehicle frame 1, the energy source system 6 is configured to supply energy for the smart outdoor working vehicle, the energy source system 6 comprises a battery compartment 601 and a first type of battery pack and / or a second type of battery pack which are detachably installed in the battery compartment 601, the first type of battery pack and the second type of battery pack have different electric capacities, and at least one of the first type of battery pack and the second type of battery pack can be used to supply power for a handheld electric tool after being detached; a working assembly 4 configured to perform vegetation cutting; a walking assembly 5 configured to support the smart outdoor working vehicle to walk; a seat 3 configured to allow a user to sit; a vehicle controller 33 configured to control at least one of the working assembly 4 and the walking assembly 5 to operate; and the collision detection device 23 is in signal connection with the vehicle controller 33, and the vehicle controller 33 is further configured to control at least one of the working assembly 4 and the walking assembly 5 to operate according to the collision information of the collision detection device 23.

[0220] As shown in some embodiments, Figure 15 the collision detection device 23 comprises a collision strip 2301, the collision strip 2301 has a first contact surface 23013 capable of contacting an obstacle; and the smart outdoor working vehicle is provided with a bumper beam (not shown in the figure), which is generally arranged on the front side of the vehicle and is arranged closer to the rear side of the smart outdoor working vehicle than the collision strip 2301, and the bumper beam has a second contact surface capable of contacting an obstacle. In the horizontal direction, the distance between the first contact surface 23013 and the second contact surface ranges from 6 mm to 12 mm. In some embodiments, the distance between the first contact surface 23013 and the second contact surface is 6 mm, 10 mm or 12 mm. The distance between the first contact surface 23013 and the second contact surface is related to the braking of the smart outdoor working vehicle. In the case of brake failure, the bumper beam acts as a barrier for the smart outdoor working vehicle and stops the vehicle in operation, thereby minimizing the damage to the vehicle caused by the impact.

[0221] As shown in some embodiments, Figure 15 the collision detection device 23 comprises a first conductive body 2303 and a second conductive body 2304, and the distance between the first conductive body 2303 and the second conductive body 2304 ranges from 3 mm to 5 mm. In some embodiments, the distance between the first conductive body 2303 and the second conductive body 2304 ranges from 3 mm, 4 mm or 5 mm.

[0222] When the collision detection device 23 collides with the obstacle, the outer part of the collision strip 2301 first contacts the obstacle, then the collision strip 2301 deforms and extrudes the first conductive body 2303 to run close to the second conductive body 2304, when the first conductive body 2303 and the second conductive body 2304 contact, a collision signal is triggered, which is transmitted to the vehicle controller 33, and the vehicle controller 33 sends corresponding instructions to stop the running or working of the intelligent outdoor working vehicle.

[0223] As shown in Figure 15 some embodiments, the collision strip 2301 has a containing cavity 23012, and the first conductive body 2303 and the second conductive body 2304 are located in the containing cavity 23012.

[0224] In some embodiments, the collision detection device 23 includes a collision strip 2301, and the height of the collision strip 2301 from the ground is in the range of 300mm-400mm. In some embodiments, the height of the collision strip 2301 from the ground is 300mm, 350mm or 400mm. The collision strip 2301 can contact relatively low obstacles, and the collision detection device 23 can have a larger detection range to avoid missing low obstacles.

[0225] As shown in Figure 15 some embodiments, the collision detection device 23 includes a collision strip 2301 and a mounting base 2302, the collision strip 2301 is provided with a first mounting part, and the mounting base 2302 is provided with a second mounting part that is in sliding fit with the first mounting part. In some embodiments, the first mounting part is a sliding block 23011, and the second mounting part is a sliding groove 23021.

[0226] As shown in Figure 7 and Figure 13 some embodiments, the intelligent outdoor working vehicle further includes a vehicle lamp 24, and the distance between the vehicle lamp 24 and the collision strip 2301 in the running direction of the intelligent outdoor working vehicle is in the range of 100mm-150mm.

[0227] As shown in Figure 7 and Figure 13 some embodiments, the intelligent outdoor working vehicle further includes a vehicle lamp 24, and the height of the vehicle lamp 24 is higher than the height of the collision detection device 23. In this way, when a relatively low obstacle is contacted, the collision detection device 23 will first contact the obstacle, and the intelligent outdoor working vehicle will brake in time according to the detection of the collision detection device 23, so that damage to the vehicle lamp 24 caused by collision can be reduced.

[0228] It should be noted that the description of height in this application is based on the ground as the reference object.

[0229] AsFigure 7 As shown, in some embodiments, the distance between the headlight 24 and the seat 3 in the horizontal direction is less than the distance between the collision detection device 23 and the seat 3. Furthermore, in the horizontal direction (or the front-to-back direction of outdoor operations), the collision detection device 23 is positioned further forward than the headlight 24. This arrangement ensures that in the event of a collision, the collision detection device 23 will contact the obstacle first, and the intelligent outdoor work vehicle can brake in a timely manner based on the detection results of the collision detection device 23, reducing the possibility of damage to the headlight 24 due to a collision.

[0230] In some embodiments, an operating component 2 is further included, disposed on the frame 1, and configured to control the intelligent outdoor work vehicle to move forward, backward, or turn. This is for user operation control of the intelligent outdoor work vehicle.

[0231] like Figure 6 As shown, in some embodiments, the walking component 5 includes a first walking wheel 501 that can rotate about a first axis 28 and a second walking wheel 502 that can rotate about a second axis 29. The distance between the first axis 28 and the second axis 29 is 900mm to 1500mm. In some embodiments, the distance between the first axis 28 and the second axis 29 is 900mm, 1000mm, 1200mm or 1500mm.

[0232] This application is not limited to the specific embodiments described above. Those skilled in the art will readily understand that many alternative solutions exist without departing from the principles and scope of this application. The scope of protection of this application is determined by the claims.

Claims

1. An intelligent outdoor work vehicle, characterized in that, include: A walking assembly, configured to support the movement of the intelligent outdoor work vehicle, includes: The first traveling wheel can rotate about the first axis. The second traveling wheel can rotate about the second axis. The task component is configured to perform outdoor tasks; Multiple sensors are configured to support the intelligent outdoor work vehicle's automatic movement within the work area. The number Y of sensors installed on the intelligent outdoor work vehicle is calculated using the following formula: Where L is the distance between the first axis and the second axis, 1.5m≥L≥1m; X represents the working radius of the working component in the direction of travel of the intelligent outdoor work vehicle, 60. inch ≥ X ≥ 30 inches; This indicates the floor function. This indicates the rounding up operation.

2. The intelligent outdoor work vehicle according to claim 1, characterized in that: The walking assembly includes a first walking wheel that can rotate about a first axis and a second walking wheel that can rotate about a second axis, wherein the diameter of the first walking wheel is larger than the diameter of the second walking wheel; The sensors are installed at both ends of the first walking wheel in the direction of travel of the intelligent outdoor work vehicle; The detection range of the sensor located at one end of the first walking wheel and the sensor located at the other end of the walking wheel at least partially overlaps.

3. The intelligent outdoor work vehicle according to claim 1, characterized in that: The sensor has a horizontal detection range of 0.1m to 20m.

4. The intelligent outdoor work vehicle according to claim 1, characterized in that: The sensor has a detection range of 0.1m to 5m in the direction perpendicular to the horizontal.

5. The intelligent outdoor work vehicle according to claim 1, characterized in that: The sensor is at least one of an ultrasonic sensor, a vision sensor, and a lidar.

6. The intelligent outdoor work vehicle according to claim 1, characterized in that: The sensor's detection height is not less than 0.1m.

7. The intelligent outdoor work vehicle according to claim 1, characterized in that: Multiple sensors are arranged circumferentially around the intelligent outdoor work vehicle, and the multiple sensors provide full-angle coverage around the intelligent outdoor work vehicle.

8. The intelligent outdoor work vehicle according to claim 1, characterized in that: The number of sensors is 4 to 30.

9. The intelligent outdoor work vehicle according to claim 1, characterized in that: The detection ranges of any two adjacent sensors among the plurality of sensors at least partially overlap.

10. The intelligent outdoor work vehicle according to claim 1, characterized in that: It also includes a computing power main control module, which is connected to at least some of the signals of the plurality of sensors and to the vehicle controller on the intelligent outdoor work vehicle. The computing power main control module is used to process the detection information of the sensors connected to it and transmit the processed information to the vehicle controller. The vehicle controller controls the operation of the walking component and / or the work component according to the information.

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