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 which is configured to support the intelligent outdoor operation vehicle to walk; a work assembly configured to perform outdoor work; the energy source system is configured to supply energy to the intelligent outdoor operation vehicle, and the energy source system comprises at least one of a first type of battery pack and a second type of battery pack which are different in capacitance; the number of the sensors is not less than three, in the overlook direction of the outdoor operation equipment, in any three adjacent sensors, the intersection point of the center line of the detection range of the middle sensor and the center line of the detection range of the adjacent sensor is a first intersection point, and the first intersection point is a second intersection point. The intersection point of the first sensor and the center line of the detection range of another adjacent sensor is a second intersection point, and the first intersection point and the second intersection point are located on the two sides of any three adjacent sensors respectively. The problem that the blind area of the intelligent outdoor operation vehicle is large is solved.

Description

[Technical Field]

[0001] This application relates to the field of garden tools, and in particular to an intelligent outdoor work vehicle. [Background Technology]

[0002] Intelligent outdoor work vehicles are functional vehicles that perform specific tasks outdoors. Sensors need to be installed on the vehicle body when manufacturing intelligent outdoor work vehicles with automated operation functions.

[0003] In the existing technology, due to the unreasonable installation layout of sensors, there are certain blind spots in the sensors arranged around the body of the intelligent outdoor work vehicle, which poses certain safety risks to the intelligent outdoor work vehicle during operation.

[0004] Therefore, it is indeed necessary to provide an intelligent outdoor work vehicle to overcome the shortcomings of previous technologies. [Utility Model Content]

[0005] In view of the shortcomings of the prior art, the purpose of this application is to provide an intelligent outdoor work vehicle that can improve the safety of intelligent outdoor work vehicles during operation.

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

[0007] The walking component is configured to support the movement of the intelligent outdoor work vehicle;

[0008] The task component is configured to perform outdoor tasks;

[0009] An energy source system is configured to power the intelligent outdoor work vehicle, the energy source system comprising at least one of a first type of battery pack and a second type of battery pack with different capacities;

[0010] Multiple sensors, in the top view of the intelligent outdoor work vehicle, each sensor includes an axis along the signal transmission direction;

[0011] In the intelligent outdoor operation vehicle, among at least three adjacent sensors on one side (front, rear, left, and right), the intersection of the axis of the middle sensor with the axis of one of its adjacent sensors is the first intersection point, and the intersection of the axis of the middle sensor with the axis of another adjacent sensor is the second intersection point. The first intersection point and the second intersection point are located on both sides of the three adjacent sensors, respectively.

[0012] A further improvement is that the sum of the detection ranges of the multiple sensors provides full-angle coverage around the intelligent outdoor work vehicle.

[0013] A further improvement is that the detection ranges of any two adjacent sensors among the plurality of sensors at least partially overlap.

[0014] A further improvement is that the preset angle of the sensor relative to the horizontal plane is -15° to 20°.

[0015] A further improvement is that the sensor includes at least one of an ultrasonic sensor, a vision sensor, and a lidar.

[0016] A further improvement is that the visual sensor includes at least one of a monocular camera, a multi-view camera, and a depth camera.

[0017] A further improvement is that the detection height of the ultrasonic sensor is not less than 0.1m.

[0018] A further improvement includes a computing power control module, which is connected to at least some of the signals of the multiple sensors and to the vehicle controller on the intelligent outdoor work vehicle. The computing power 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.

[0019] A further improvement is that the sensor has a horizontal detection range of 0.1m to 20m.

[0020] A further improvement is that the sensor has a detection distance of 0.1m to 5m in the direction perpendicular to the horizontal.

[0021] Compared with the prior art, this application has the following beneficial effects:

[0022] In this application, among at least three adjacent sensors on one side (front, rear, left, and right) of an intelligent outdoor work vehicle, the intersection of the axis of the middle sensor with the axis of its adjacent sensor is designated as the first intersection point, and the intersection with the axis of its adjacent other sensor is designated as the second intersection point. The first and second intersection points are located on opposite sides of the three adjacent sensors, respectively. This arrangement reduces blind spots for the sensors when the intelligent outdoor work vehicle is in operation, thereby improving safety during autonomous driving in outdoor operations. [Image Description]

[0023] The specific embodiments of this application will be described in further detail below with reference to the accompanying drawings:

[0024] Figure 1 This is a three-dimensional structural diagram of an existing outdoor work vehicle in this application;

[0025] Figure 2This is a structural diagram of some existing outdoor work vehicles in this application after holes are made in the frame, left cover, right cover and tail cover (to determine the installation position);

[0026] Figure 3 This is a structural diagram of some existing outdoor work vehicles in this application, with holes made in the frame, left cover, right cover and tail cover (to determine the installation position) from another angle;

[0027] Figure 4 This is a structural diagram of some existing outdoor work vehicles in this application after the connecting components are installed on the frame, left cover, right cover and tail cover;

[0028] Figure 5 This is a schematic diagram of the structure of some existing outdoor work vehicles in this application after the detection components are installed on the frame, left cover, right cover and tail cover;

[0029] Figure 6 This is a three-dimensional structural diagram of the intelligent outdoor operation vehicle in this application;

[0030] Figure 7 This is a schematic diagram of the main view structure of the intelligent outdoor operation vehicle in this application;

[0031] Figure 8 This is a schematic diagram of the left-side structure of the intelligent outdoor operation vehicle in this application;

[0032] Figure 9 This is a schematic diagram of the right-side structure of the intelligent outdoor operation vehicle in this application;

[0033] Figure 10 This application presents a schematic diagram of the full-angle coverage structure of the ultrasonic sensor for intelligent outdoor work vehicles.

[0034] Figure 11 This application presents a schematic diagram of the full-angle coverage structure of the vision sensor for intelligent outdoor work vehicles.

[0035] Figure 12 This is a logic block diagram showing the control between the various sensors on the intelligent outdoor work vehicle and the vehicle in this application.

[0036] Figure 13 This is a schematic diagram of the installation angle structure of some sensors on the intelligent outdoor operation vehicle in this application;

[0037] Figure 14 This is a schematic diagram of the periscope structure on the intelligent outdoor work vehicle in this application;

[0038] Figure 15 This is a schematic diagram of the collision detection device on the intelligent outdoor work vehicle in this application;

[0039] Figure 16 This is a schematic diagram showing the relationship between three adjacent sensors on one of the front, rear, left, and right sides of the intelligent outdoor work vehicle in this application. [Detailed Implementation]

[0040] The terminology used in this application is for the purpose of describing specific embodiments only and is not intended to limit the application. For example, terms such as "left," "right," "front," and "rear" that indicate orientation or positional relationship are based solely on the orientation or positional relationship shown in the accompanying drawings and are used only for the convenience of describing the application and simplifying the description, and are not intended to indicate or imply that the device referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the application.

[0041] See Figures 1 to 16 This application discloses a method for upgrading an existing outdoor work vehicle that lacks or does not fully possess automatic operation functions to an intelligent outdoor work vehicle with fully automatic operation functions. The method comprises the following steps:

[0042] Secure existing outdoor work vehicles;

[0043] Determine the installation location on existing outdoor work vehicles;

[0044] Install the connection components at the installation location;

[0045] Install the probe component on the connection component.

[0046] It should be noted that the order of the steps in the installation method is not specifically limited in this application. As long as the above installation method can upgrade existing outdoor work vehicles that do not have or do not fully have automatic operation functions into intelligent outdoor work vehicles with automatic operation functions, it is acceptable.

[0047] In some embodiments, the connection component and the detection component may be installed first, and then the computing power control module 31 may be installed.

[0048] In some embodiments, the main computing power control module 31 may be installed first, followed by the installation of the connection components and the detection components.

[0049] In some embodiments, securing an existing outdoor work vehicle includes: clamping the frame 1 or wheels of the existing outdoor work vehicle with a clamp; or, lifting the existing outdoor work vehicle with a lifting device and removing it from the ground.

[0050] Furthermore, securing existing outdoor work vehicles also includes: using the vehicle's own braking structure to brake the vehicle and thus secure it.

[0051] Furthermore, securing the existing outdoor work vehicle also includes: driving the existing outdoor work vehicle to a position that can limit the wheels or frame 1, for example, driving the existing outdoor work vehicle to a recess that limits the wheels.

[0052] In some embodiments, determining the installation location on an existing outdoor work vehicle includes: using a positioning device to locate and mark multiple points on the frame 1 and / or shell assembly of the existing outdoor work vehicle, forming multiple marked points to be processed;

[0053] Multiple marking points on the frame 1 and / or housing assembly are processed using processing equipment to form multiple mounting positions.

[0054] In some embodiments, positioning and marking are performed at multiple points on the frame 1 and / or shell assembly of an existing outdoor work vehicle using a positioning device to form multiple marked points to be processed, including:

[0055] Based on the required height and angle for the installation of the detection components, use positioning equipment to perform preliminary positioning of multiple points on the frame 1 and / or the housing assembly;

[0056] Adjust the height and / or angle of the output end of the positioning device to adjust multiple preliminary positioning points on the frame 1 and / or housing assembly into multiple determined positioning points, and mark the multiple determined positioning points to form multiple marked points to be processed.

[0057] 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.

[0058] 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.

[0059] 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:

[0060] 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.

[0061] 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.

[0062] likeFigure 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.

[0063] 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.

[0064] In some embodiments, the processing equipment includes an electric drilling machine and an electric grinder.

[0065] In some embodiments, the processing equipment includes a manual hole-making device and sandpaper.

[0066] 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.

[0067] In some embodiments, the preprocessing includes deburring and / or enlarging the reserved locations.

[0068] In some embodiments, it is important to understand that existing outdoor work vehicles (basic models) without automated operation functions are pre-positioned during the initial production and assembly process to allow for later upgrades and modifications to become intelligent (upgraded models) with automated operation functions.

[0069] The installation method of this application includes finding a reserved position on an existing outdoor work vehicle (basic model vehicle) that does not have an automatic operation function, and then performing pre-processing through relevant processing equipment, such as grinding and deburring the reserved position (such as a mounting hole) with grinding equipment or enlarging the reserved position (such as a mounting hole) with hole enlarging equipment, and then grinding and deburring, so that the reserved position is processed and modified into a shape that conforms to the height and angle of the relevant sensor installation.

[0070] In some embodiments, the installation method of this application further includes: directly installing the connecting component in a reserved position (such as a mounting hole).

[0071] like Figure 4As shown, in some embodiments, the connecting component includes a plurality of first connectors and / or a plurality of second connectors; installing the connecting component at the installation position includes: setting a first connector or a second connector at each of a plurality of installation positions having a preset height and a preset angle, such that the first connector or the second connector is set at the corresponding installation position according to the preset height and the preset angle, forming a first connector or a second connector having a preset height and a preset angle.

[0072] like Figure 5 As shown, in some embodiments, the detection component includes a plurality of first sensors, a plurality of second sensors, and a third sensor. Installing the detection component on the connecting component includes: arranging the plurality of first sensors, the plurality of second sensors, and the third sensors as needed on a first or second connecting member having a preset height and a preset angle, so that the plurality of first sensors, the plurality of second sensors, and the third sensor all have a preset detection height and a preset detection angle.

[0073] In some embodiments, the first sensor is an ultrasonic sensor 18, the second sensor is a vision sensor, and the third sensor is a lidar 21. In some embodiments, the vision sensor is a monocular camera 19, a binocular camera 20, or a depth camera.

[0074] It is important to understand that the detection height mentioned above is related to the type of obstacle (e.g., children, adults) and / or its state (e.g., lying down, standing). The detection angle mentioned above is related to whether it covers the entire perimeter of the work vehicle and the size of the blind spot.

[0075] The layout methods of the ultrasonic sensor 18 in some embodiments are described in detail below:

[0076] The installation method of this application includes: setting multiple ultrasonic sensors 18 around the existing outdoor work vehicle, and the detection range of the multiple ultrasonic sensors 18 covers the entire perimeter of the existing outdoor work vehicle.

[0077] like Figure 2 and Figure 3 As shown, the method for installing the ultrasonic sensor 18 includes opening multiple first mounting holes 9 on the frame 1, left cover 7, right cover 8, and rear cover 602 of the battery compartment 601. The method for opening multiple first mounting holes 9 includes: using a positioning device to determine the marking points to be processed on the frame 1, left cover 7, right cover 8, and rear cover 602 of the battery compartment 601 according to the required height and angle, and then using a processing device to process on the marking points to form the first mounting holes 9.

[0078] Each of the plurality of first mounting holes 9 is set at a predetermined height and angle, and then a first connector is set on each of the plurality of first mounting holes 9, and then one or more ultrasonic sensors 18 are installed on each first connector.

[0079] In some embodiments, the first mounting hole 9 can be a hole of different diameter or shape, or it can be a combination of multiple holes.

[0080] like Figure 4 As shown, in some embodiments, the first connector may be one or more of the first mounting bracket 12, the second mounting bracket 13, and the third mounting bracket 14.

[0081] like Figure 4 As shown, in some embodiments, the first mounting bracket 12 is an annular mounting base with a hollow interior. The ultrasonic sensor 18 is mounted on the annular mounting base via a snap-fit ​​mechanism. In some embodiments, the annular mounting base can be of different ring shapes to accommodate the external structure of existing outdoor work vehicles.

[0082] like Figure 4 As shown, in some embodiments, the ultrasonic sensor 18 can be installed 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 implementations, the installation method of this application further includes: installing the second mounting bracket 13 on the vehicle frame 1, 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.

[0083] like Figure 4 As shown, in some embodiments, the method for installing the ultrasonic sensor 18 of this application further includes opening a first mounting hole 9 on the bracket, then setting an annular mounting seat on the first mounting hole 9, and then installing part of the sensor on the annular mounting seat of the bracket.

[0084] In some embodiments, after installation, the height of the ultrasonic sensor 18 located on the frame 1, left cover 7 and right cover 8 ranges from 370mm to 380mm. In some embodiments, the height of the ultrasonic sensor 18 located on the frame 1, left cover 7 and right cover 8 is 370mm, 373mm or 380mm.

[0085] like Figures 5 to 9 In some embodiments, ultrasonic sensors 18 located on the frame 1, left cover 7, and right cover 8 are positioned at a first preset angle relative to the horizontal plane, the first preset angle ranging from 10° to 20°. Figure 13As shown, specifically, the ultrasonic sensors 18 located on the frame 1, left cover 7, and right cover 8 have elevation angles of 10°, 15°, and 20° relative to the horizontal plane.

[0086] In some embodiments, after installation, 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.

[0087] In some embodiments, the ultrasonic sensor 18 located on the tail cover 602 of the battery compartment 601 is disposed at a first preset angle relative to the horizontal plane, the first preset angle being in the range of 10° to 20°. Specifically, the angle of the ultrasonic sensor 18 located on the tail cover 602 of the battery compartment 601 relative to the horizontal plane is 10°, 15°, and 20°.

[0088] In some embodiments, the method for installing the ultrasonic sensor 18 of this application includes: installing three ultrasonic sensors 18 on the front side of an existing outdoor work vehicle, wherein the installation height of the three ultrasonic sensors 18 is 373 mm and the installation angle relative to the horizontal plane is 15°.

[0089] Three ultrasonic sensors 18 are installed on the left and right sides of the existing outdoor work vehicle. The three ultrasonic sensors 18 on the left side of the existing outdoor work vehicle are installed at a height of 373mm and at an angle of 15° relative to the horizontal plane. The three ultrasonic sensors 18 on the right side of the existing outdoor work vehicle are installed at a height of 373mm and at an angle of 15° relative to the horizontal plane.

[0090] Four ultrasonic sensors 18 are installed on the rear side of the existing outdoor work vehicle. The height of the four ultrasonic sensors 18 is 346.8 mm and the installation angle relative to the horizontal plane is 15°.

[0091] like Figure 10 As shown above, a total of 13 ultrasonic sensors 18 are installed on the front, left, right and rear sides of the existing outdoor work vehicle. Among the 13 ultrasonic sensors 18, the detection range of any two adjacent ultrasonic sensors 18 overlaps at least partially, so as to achieve full-angle coverage of the existing outdoor work vehicle by the combination of the 13 ultrasonic sensors 18.

[0092] Considering that existing outdoor work vehicles operate within the work area where vegetation such as grass has a certain height, in order to avoid the influence of grass height on the detection results, the installation parameters of the ultrasonic sensor are configured as the first parameter. This also enables the ultrasonic sensor to avoid interference from grass below the preset grass height, or enables existing outdoor work vehicles to perform operations on grass of the preset grass height.

[0093] It's important to understand that, relative to the horizontal plane, the preset upward angle is a positive value, and the preset downward angle is a negative value. The following angle descriptions also apply.

[0094] The layout methods of vision sensors in some embodiments are described in detail below:

[0095] In some embodiments, the installation method of this application includes: setting up multiple visual sensors around the existing outdoor work vehicle, wherein the detection range of the multiple visual sensors covers the entire perimeter of the existing outdoor work vehicle.

[0096] In some embodiments, the vision sensor includes a monocular camera 19, a binocular camera 20, or a depth camera.

[0097] like Figure 2 and Figure 3 As shown, the method for installing the vision sensor in this application includes: opening a plurality of second mounting holes 10 on the frame 1, the left cover 7, the right cover 8, and the rear cover 602 of the battery compartment 601. The method for opening the plurality of second mounting holes 10 includes: using a positioning device to determine the marking points to be processed on the frame 1, the left cover 7, the right cover 8, and the rear cover 602 of the battery compartment 601 according to the required height and angle, and then using a processing device to process on the marking points to form the second mounting holes 10.

[0098] Each of the plurality of second mounting holes 10 is set at a predetermined height and angle, such as Figure 4 As shown, a second connector is then provided in each of the plurality of second mounting holes 10, such as... Figure 5 As shown, one or more vision sensors are then installed on each of the second connectors.

[0099] In some embodiments, the second mounting hole 10 can be a hole of different diameter or shape, or it can be a combination of multiple holes.

[0100] like Figure 4 As shown, in some embodiments, the second connector can be any one or both of the fourth mounting bracket 15 and the fifth mounting bracket 16. The fourth mounting bracket 15 can also be an annular mounting base, and the fifth mounting bracket 16 can also be...

[0101] likeFigures 5 to 9 As shown, in some embodiments, after installation, the height range of the vision sensors located on the frame 1, left cover 7, right cover 8 and rear cover 602 of the battery compartment 601 is 400mm to 680mm. In some embodiments, the height of the vision sensors located on the frame 1, left cover 7 and right cover 8 is 400mm, 475mm, 565mm, 640mm or 680mm.

[0102] In some embodiments, the vision sensors located on the frame 1, left cover 7, right cover 8, and rear cover 602 of the battery compartment 601 are positioned at a second preset angle relative to the horizontal plane, the second preset angle ranging from -15° to 5°. Specifically, the second preset angle of the vision sensors located on the frame 1, left cover 7, right cover 8, and rear cover 602 of the battery compartment 601 relative to the horizontal plane is -15°, -11°, -9°, 0°, or 5°.

[0103] like Figure 13 As shown, specifically, the method for installing the vision sensor in this application includes: installing a vision sensor on the front side of an existing outdoor work vehicle. The installation height of this vision sensor is 565mm, and the angle relative to the horizontal plane is 0°.

[0104] like Figure 5 As shown, one vision sensor is installed on the left and one on the right side of the existing outdoor work vehicle. The vision sensor on the left side of the existing outdoor work vehicle is installed at a height of 640mm and at an angle of -11° relative to the horizontal plane. The vision sensor on the right side of the existing outdoor work vehicle is installed at a height of 640mm and at an angle of -11° relative to the horizontal plane.

[0105] like Figure 7 and Figure 9 As shown, two vision sensors are installed at the rear of the existing outdoor work vehicle. The installation height of these two vision sensors is 475mm, and the angle relative to the horizontal plane is -9°.

[0106] 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.

[0107] 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.

[0108] 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.

[0109] 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.

[0110] 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.

[0111] The layout methods of the lidar 21 in some embodiments are described in detail below:

[0112] 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.

[0113] like Figures 2 to 5 As shown, the method for installing the lidar 21 in this application further includes: setting a third mounting hole 11 on the vehicle frame 1, and then installing a third connector on the third mounting hole 11 to install the lidar 21 on the third connector.

[0114] like Figure 13In some embodiments, the third preset angle range of the lidar 21 relative to the horizontal plane is 0° to 5°. In some embodiments, the third preset angle of the lidar 21 relative to the horizontal plane is 0°, 3°, or 5°.

[0115] In some embodiments, the installation height of the lidar 21 ranges from 615mm to 635mm. In some embodiments, the installation height of the lidar 21 is 615mm, 625mm, or 635mm.

[0116] like Figures 5 to 8 As shown, in some embodiments, a lidar 21 can also be mounted on the second connector for mounting the vision sensor on the front side of the frame 1, so that the lidar 21 and the vision sensor are mounted one above the other on the same second connector. This arrangement improves the fitting degree of the detection information when the vision sensor and lidar 21 fit the information they detect, thereby improving the accuracy of judging obstacles in front and accurately obtaining the category of obstacles.

[0117] like Figures 5 to 8 As shown, in some embodiments, the second connector further includes a sixth mounting bracket 17 connected between the left and right crossbeams of the frame 1.

[0118] like Figure 12 As shown, a computing power main control module 31 is installed on an existing outdoor operation vehicle, and the computing power main control module 31 is connected to the detection component and the vehicle controller 33 on the existing outdoor operation vehicle.

[0119] like Figure 12 As shown, the computing power main control module 31 in this application is configured to receive and process information from the detection components in part or in whole, and then transmit the processed information to the vehicle controller 33. The vehicle controller 33 is configured to control the operation of the upgraded intelligent outdoor work vehicle with fully automatic operation function according to the information transmitted by the computing power main control module 31.

[0120] like Figure 12 As shown, in some embodiments, part of the information from the detection component is transmitted to the computing power main control module 31 for processing, while another part of the information from the detection component is transmitted to the vehicle controller 33 for processing.

[0121] like Figure 12 As 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.

[0122] 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.

[0123] 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.

[0124] 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.

[0125] In some embodiments, the installation method of this application further includes disassembling the components on the existing outdoor work vehicle on which the interference connection component, the detection component, and the computing power main control module 31 are installed, and after the installation is completed, reinstalling the disassembled components on the upgraded intelligent outdoor work vehicle or not installing them at all.

[0126] like Figures 8 to 9As shown, in some embodiments, the existing outdoor work vehicles of this application can also utilize the RTK system 32 for location 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 a mobile work vehicle, while the RTK base station is used to be fixed at a certain location in the work area.

[0127] In some embodiments, the installation method of this application further includes installing a satellite positioning receiving antenna 22 for receiving satellite positioning signals and a satellite positioning mobile station for processing satellite positioning signals on an 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, which is signal-connected to the computing power main control module 31.

[0128] The satellite positioning mobile station can also be other satellite positioning mobile stations, or other positioning devices that can work with RTK base stations to achieve real-time positioning. The satellite positioning receiving antenna 22 transmits the received satellite signals and the satellite signals received by the RTK base station to the satellite positioning mobile station. Then, the satellite positioning mobile station uses differential data to correct the satellite positioning coordinates (i.e., the positioning coordinates of the intelligent outdoor work vehicle) and outputs them to the computing power main control module, thereby realizing the positioning of the outdoor work vehicle.

[0129] The vehicle controller 33 can control the outdoor work vehicle to perform operations and / or functions such as driving, map selection, recall, offset, and lawn mowing, realizing the intelligent driving function or automatic operation function of the outdoor work vehicle. The vehicle controller 33 may further include a map generation and management module, a trajectory planning module, and a lawn mowing operation control module.

[0130] like Figure 7 As shown, in some embodiments, two satellite positioning receiving antennas 22 are provided, and the distance between the two satellite positioning receiving antennas 22 ranges from 260mm to 650mm. In some embodiments, the distance between the two satellite positioning receiving antennas 22 is 260mm, 380mm, or 650mm.

[0131] In some embodiments, the arrangement of two satellite positioning receiving antennas 22 allows for the identification of the positions of two points on the intelligent outdoor work vehicle during operation, thereby determining the orientation of the intelligent outdoor work vehicle and facilitating the adjustment of the intelligent outdoor work vehicle's travel direction according to the actual work direction.

[0132] like Figure 8As shown, in some embodiments, the two satellite positioning receiving antennas 22 are not collinear, either parallel or perpendicular to the travel direction of the existing outdoor work vehicle. The satellite positioning receiving antennas 22 can be installed at the front, rear, or other suitable locations on the existing outdoor work vehicle.

[0133] like Figure 6 and Figure 7 As shown, in some embodiments, two satellite positioning receiving antennas 22 are arranged collinearly, either parallel to or perpendicular to the travel direction of the existing outdoor work vehicle.

[0134] In some embodiments, the satellite positioning receiving antenna 22 can be directly mounted on the vehicle frame 1, the seat 3, or the battery compartment 601. In some embodiments, the satellite positioning receiving antenna 22 can also be directly or indirectly mounted on the sixth mounting bracket 17.

[0135] In some embodiments, the method for retrofitting existing outdoor work vehicles according to this application is not limited to existing outdoor work vehicles that are electrically driven by battery packs, but can also be existing outdoor work vehicles that are driven by fuel or other driving methods.

[0136] Please see Figure 1 The image shows a conventional outdoor work vehicle in some embodiments disclosed in this application, including a frame 1, an operating component 2, a seat 3, a work component 4, a walking component 5, and an energy source system 6.

[0137] The frame 1 extends along a straight line, and the operating component 2, seat 3, working component 4, walking component 5 and energy source system 6 are located at different positions on the frame 1.

[0138] The operating component 2 includes a left operating lever 201 located on the left side of the existing outdoor work vehicle and a right operating lever 202 located on the right side. Operators control the existing outdoor work vehicle to move forward, backward, or turn by manipulating the left and right operating levers 201 and 202. The operating component 2 can also be a steering wheel that controls the existing outdoor work vehicle.

[0139] In some embodiments, the operating component 2 is provided with control buttons for adjusting the operating speed of the working component 4 and the traveling component 5, so as to facilitate the operator to quickly and accurately control the operation of the existing outdoor work vehicle. Furthermore, the operating component 2 may also be provided with buttons for adjusting the brightness of the vehicle's headlights 24, buttons for adjusting the cutter speed, etc.

[0140] The seat 3 is mounted on the frame 1, and the left control lever 201 and the right control lever 202 are positioned close to the seat 3 and located on the left and right sides of the seat 3 respectively, so that the operator sitting on the seat 3 can control the operation of the existing outdoor work vehicle by operating the left control lever 201 and the right control lever 202.

[0141] The working component 4 serves as the workpiece that realizes the tool function. In one embodiment, the existing outdoor work vehicle is specifically a ride-on lawnmower, and the working component 4 is specifically a cutting component, which is located below the frame 1. It is used to output power to realize the mowing function of the ride-on lawnmower.

[0142] In some embodiments, the cutting assembly includes a blade disc, 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 grasses when rotating at high speed. For example, the mowing element is a blade used to cut vegetation on a lawn. The blade disc forms a mowing space for accommodating the mowing element, which is at least partially located within the mowing space.

[0143] The working component 4 can also be detached from existing outdoor work vehicles. It is understood that the working component 4 can be replaced with other components to meet the usage needs of different landscaping operations. Therefore, the outdoor work equipment can not only cut vegetation, but the cutting component can also be replaced with functional components such as snow shoveling, snow sweeping, snow blowing, and rinsing. Those skilled in the art should be able to adapt and replace various functional components without creative effort, and all of the above should be included in the protection scope of this embodiment.

[0144] When the cutting components are replaced with functional components such as snow shovel, snow sweeper, or snow blower, the energy source system 6 of the existing outdoor work vehicle of this application can also supply power to the aforementioned functional components such as snow shovel, snow sweeper, and snow blower.

[0145] Understandably, existing outdoor work vehicles can also include other vehicles that travel outdoors, such as multi-purpose vehicles, ATVs, farm vehicles, and golf carts. Existing outdoor work vehicles can also include agricultural machinery vehicles, such as harvesters and sprayers.

[0146] The walking assembly 5 includes walking wheels mounted on the frame 1 and a walking motor for driving the walking wheels. The walking wheels are located 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, thereby reducing the probability of the existing outdoor work vehicle overturning when walking.

[0147] In one embodiment, the number of wheels is set to four, including two front wheels and two rear wheels. The front wheels can be omnidirectional wheels. A drive motor is connected to the rear wheels to drive their rotation. Both rear wheels are equipped with drive motors, which can be hub motors. The two drive motors can have the same or different rotational speeds. When the operator is driving the existing outdoor work vehicle straight, the two drive motors rotate at approximately the same speed. When the operator is turning, the two drive motors rotate at different speeds, and the vehicle turns towards the side with the lower rotational speed. The diameter of the front wheels is smaller than the diameter of the rear wheels.

[0148] The energy source system 6 is located at the rear of the vehicle frame 1. The energy source system 6 includes multiple battery packs, a power management device configured to uniformly manage the charging and discharging processes of the multiple battery packs, and a battery compartment 601 for mounting the multiple battery packs. The multiple battery packs are electrically connected to external terminals on the battery compartment 601 via terminals thereon to power the existing outdoor work vehicle. The multiple battery packs include first-type battery packs and second-type battery packs. Furthermore, the battery compartment 601 can be configured to accommodate first-type and second-type battery packs of different capacities or sizes to increase the compatibility of the existing outdoor work vehicle with different types of battery packs. At least one of the battery packs can be detached from the existing outdoor work vehicle to power other handheld power tools or energy storage devices, increasing the versatility of the battery packs. In some embodiments, the first-type battery pack includes a ternary lithium battery pack, and the second-type battery pack includes a lithium iron phosphate battery pack.

[0149] In some embodiments, this application also provides an installation system for existing outdoor work vehicles. The installation system is at least used to upgrade existing outdoor work vehicles that do not have or do not fully have automatic operation functions to intelligent outdoor work vehicles with fully automatic operation functions. The existing outdoor work vehicle includes: a frame 1; a shell assembly, at least partially configured to cover the frame 1; a walking assembly 5, configured to support the existing outdoor work vehicle to walk; an operation assembly 4, configured to perform outdoor operations; 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 in a predetermined direction and / or perform outdoor operations.

[0150] The added system includes: a connection component, mounted on the frame 1 and / or the housing component; a detection component, mounted on the connection component, configured to monitor the surrounding environment of the existing outdoor work vehicle; and a computing power main control module 31, which is connected to the detection component and the vehicle controller 33. The computing power main control module is used to process at least some of the detection information from the detection component and transmit the processed information to the vehicle controller 33. The vehicle controller 33 controls the operation of the walking component 5 and / or the work component 4 based on the detection information.

[0151] It should be noted that the intelligent outdoor work vehicle in this application is obtained by upgrading an existing outdoor work vehicle. Therefore, the components on both vehicles, such as the frame 1, operating components 2, seat 3, working components 4, walking components 5, energy source system 6, and outer shell components (left cover 7, right cover 8, and rear cover 602), are identical. Only a few components may have openings or other mounting positions due to installation requirements; the essential function remains unchanged. Therefore, no distinguishing markings are made in the accompanying drawings relating to the aforementioned components on the existing outdoor work vehicle and the intelligent outdoor work vehicle.

[0152] It should be noted that the intelligent outdoor work vehicle in this application is obtained by upgrading an existing outdoor work vehicle. Therefore, the components on both vehicles, such as the frame 1, operating components 2, seat 3, working components 4, walking components 5, energy source system 6, and outer shell components (left cover 7, right cover 8, and rear cover 602), are identical. Only a few components may have openings or other mounting positions due to installation requirements; the essential function remains unchanged. Therefore, no distinguishing markings are made in the accompanying drawings relating to the aforementioned components on the existing outdoor work vehicle and the intelligent outdoor work vehicle.

[0153] The existing outdoor work vehicles without automatic operation functions disclosed in this application can be understood as follows: the existing outdoor work vehicles need to be manually judged and operated to move (including forward, reverse and turn) in the work area, operate in the work area (including start, stop and lift of the work component 4) and brake. The vehicles only have simple functions such as adaptive cruise control, vehicle speed detection and reversing detection (including setting reversing radar).

[0154] Existing outdoor work vehicles that do not fully possess automated operation capabilities can be understood as vehicles equipped with only some driver assistance sensors (such as one or two of ultrasonic sensors 18, visual sensors, and lidar 21), possessing semi-automatic operation functions, capable only of corresponding automatic cruise control, obstacle recognition and judgment in simple situations, etc. This allows drivers to temporarily free their hands, but manual intervention and control must be readily available. It can also include: existing outdoor work vehicles achieving partially automated operation in specific environments, able to determine whether to maintain automated operation in certain areas or revert to manual control based on road conditions.

[0155] Fully automated intelligent outdoor work vehicles can be understood as highly automated vehicles capable of operating without any human intervention. However, there are limitations, such as a speed limit and a relatively fixed driving area. They generally rely on real-time updated information data about the work area to achieve automatic vehicle retrieval and return, automatic platooning, and automatic obstacle avoidance (including automatic lifting and lowering of the work components and vehicle steering).

[0156] In some embodiments, the frame 1 and / or housing assembly are provided with a plurality of mounting positions having preset heights and preset angles. In some embodiments, the plurality of mounting positions are formed by at least one of a first mounting hole 9, a second mounting hole 10, and a third mounting hole 11. Of course, the mounting positions are not limited to hole mechanisms, but can also be groove structures or other structures that can meet the mounting requirements of the sensor.

[0157] like Figure 4 and Figure 5 As shown, in some embodiments, the connecting component includes a first connector and a second connector, both of which can be installed at multiple mounting positions at a preset height and a preset angle.

[0158] like Figures 5 to 9 As shown, in some embodiments, the detection component includes multiple first sensors and multiple second sensors. The multiple first sensors and multiple second sensors can be disposed on a first connector or a second connector having a preset height and a preset angle. The multiple first sensors and multiple second sensors each have a preset detection height and a preset detection angle.

[0159] In some embodiments, the sum of the detection ranges of the plurality of first sensors provides full-angle coverage around the existing outdoor work vehicle.

[0160] In some embodiments, the combined detection range of the plurality of second sensors provides full-angle coverage around the existing outdoor work vehicle.

[0161] 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.

[0162] 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 range of the first preset angle is 10° to 20°, and in some embodiments, the first preset angle is 10°, 15°, and 20°. The range of the second preset angle is -15° to 5°, and in some embodiments, the second preset angle is -15°, -11°, -9°, 0°, or 5°. In some embodiments, the installation height of the first sensor is in the range of 250mm to 280mm, and the installation height of the second sensor is in the range of 400mm to 680mm. In some embodiments, the first sensor includes an ultrasonic sensor 18, and the second sensor includes a monocular camera 19, a multi-view camera, or a depth camera.

[0163] like Figure 6 and Figure 8 As shown, in some embodiments, the first sensor is an ultrasonic sensor 18. In this application, three ultrasonic sensors 18 are provided on the front side of existing outdoor work vehicles. The installation height of the three ultrasonic sensors 18 is 373mm and the installation angle relative to the horizontal plane is 15°.

[0164] like Figure 7 As shown, there are three ultrasonic sensors 18 on the left and right sides of the existing outdoor work vehicle. The three ultrasonic sensors 18 on the left side of the existing outdoor work vehicle are installed at a height of 373mm and at an angle of 15° relative to the horizontal plane. The three ultrasonic sensors 18 on the right side of the existing outdoor work vehicle are installed at a height of 373mm and at an angle of 15° relative to the horizontal plane.

[0165] like Figure 9 As shown, four ultrasonic sensors 18 are installed on the rear side of the existing outdoor work vehicle. The height of the four ultrasonic sensors 18 is 346.8 mm and the installation angle relative to the horizontal plane is 15°.

[0166] like Figure 10 As shown above, a total of 13 ultrasonic sensors 18 are installed on the front, left, right and rear sides of the existing outdoor work vehicle. Among the 13 ultrasonic sensors 18, the detection range of any two adjacent ultrasonic sensors 18 overlaps at least partially, so as to achieve full-angle coverage of the existing outdoor work vehicle by the combination of the 13 ultrasonic sensors 18.

[0167] It's important to understand that, relative to the horizontal plane, the preset upward angle is a positive value, and the preset downward angle is a negative value. The following angle descriptions also apply.

[0168] In some embodiments, the ultrasonic sensor 18 is configured to detect children, adults and other obstacles within a 1m range.

[0169] like Figures 5 to 8 As shown, in some embodiments, the second sensor is a vision sensor. A vision sensor is installed on the front side of an existing outdoor work vehicle. The installation height of this vision sensor is 585mm and the angle relative to the horizontal plane is 0°.

[0170] like Figures 5 to 9 As shown, one vision sensor is installed on the left and one on the right side of the existing outdoor work vehicle. The vision sensor on the left side of the existing outdoor work vehicle is installed at a height of 640mm and at an angle of -11° relative to the horizontal plane. The vision sensor on the right side of the existing outdoor work vehicle is installed at a height of 640mm and at an angle of -11° relative to the horizontal plane.

[0171] like Figure 9 As shown, two vision sensors are installed at the rear of the existing outdoor work vehicle. The installation height of these two vision sensors is 475mm, and the angle relative to the horizontal plane is -9°.

[0172] like Figure 13 As shown, in some embodiments, in the direction of travel of the existing outdoor work vehicle of this application, the arrangement of one vision sensor located at the front of the existing outdoor work vehicle is as follows: it is set directly in front of the existing outdoor work vehicle, and the angle between it and the direction of travel of the existing outdoor work vehicle is 0°.

[0173] 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 visual sensors located on the left and right sides of the existing outdoor work vehicle are positioned at angles of 60°, 64°, or 70° relative to the vehicle's direction of travel.

[0174] The angle between the two visual sensors located at the rear of the existing outdoor work vehicle and the direction of travel of the existing outdoor work vehicle ranges 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 direction of travel of the existing outdoor work vehicle is 25°, 30°, or 35°.

[0175] like Figure 11As shown above, five vision sensors are installed on the front, left, right and rear sides of the existing outdoor work vehicle. The detection ranges of any two adjacent vision sensors overlap at least partially, so as to achieve full-angle coverage of the existing outdoor work vehicle by combining the five vision sensors.

[0176] like Figure 7 and Figure 11 As shown, the additional system for existing outdoor work vehicles in this application also includes a monocular camera 19 located at the front of the vehicle, a binocular camera 20 located on each of the left and right sides of the existing outdoor work vehicle, and two monocular cameras 19 located at the rear of the existing outdoor work vehicle.

[0177] In some embodiments, the retrofit system for existing outdoor work vehicles of this application further includes a third sensor for placement on the front side of the existing outdoor work vehicle. The purpose of the third sensor includes, but is not limited to, detecting the area in front of the vehicle while it is in motion.

[0178] In some embodiments, the visual sensor of this application is configured to detect obstacles within a range of at least 5m.

[0179] In some embodiments, the third sensor is positioned at a third preset angle relative to the horizontal plane. In some embodiments, the third sensor is a lidar 21.

[0180] In some embodiments, the third preset angle range of the lidar 21 relative to the horizontal plane is 0° to 5°. In some embodiments, the third preset angle of the lidar 21 relative to the horizontal plane is 0°, 3°, or 5°.

[0181] In some embodiments, the installation height of the lidar 21 ranges from 615mm to 635mm. In some embodiments, the installation height of the lidar 21 is 615mm, 625mm, or 635mm.

[0182] In some embodiments, the lidar 21 is configured to detect obstacles within a range of 20m. The lidar 21 works in conjunction with a visual sensor to make more accurate identification and judgment, and is used to predict and make driving obstacle avoidance strategies such as deceleration or avoidance in advance.

[0183] In some embodiments, the detection distance of the aforementioned sensor is not less than the braking distance of the upgraded intelligent outdoor work vehicle.

[0184] like Figure 8 , Figure 9 and Figure 12As shown, in some embodiments, the existing outdoor work vehicle retrofit system of this application further includes a satellite positioning receiving antenna 22 for receiving satellite positioning signals and a satellite positioning mobile station for processing satellite positioning signals. The satellite positioning receiving antenna 22 is used to receive satellite signals and transmit the received satellite signals to the satellite positioning mobile station, which is signal-connected to the computing power main control module 31.

[0185] like Figure 12 As shown, the satellite positioning mobile station can also be other satellite positioning mobile stations or other positioning devices that can work with RTK base stations to achieve real-time positioning. The satellite positioning receiving antenna 22 transmits the received satellite signals and the satellite signals received by the RTK base station to the satellite positioning mobile station. Then, the satellite positioning mobile station uses the differential data of the two to correct the satellite positioning coordinates (i.e., the positioning coordinates of the intelligent outdoor work vehicle) and outputs them to the computing power main control module 31, thereby realizing the positioning of the outdoor work vehicle.

[0186] The vehicle controller 33 can control the outdoor work vehicle to perform operations and / or functions such as driving, map selection, recall, offset, and lawn mowing, realizing the intelligent driving function or automatic operation function of the outdoor work vehicle. The vehicle controller 33 may further include a map generation and management module, a trajectory planning module, and a lawn mowing operation control module.

[0187] In some embodiments, two satellite positioning receiving antennas 22 are provided, 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.

[0188] like Figure 8 As shown, in some embodiments, the two satellite positioning receiving antennas are not arranged collinearly, either parallel or perpendicular to the travel direction of the existing outdoor work vehicle. The satellite positioning receiving antennas can be installed on the front, rear, or other suitable locations of the existing outdoor work vehicle. Furthermore, the satellite positioning receiving antennas can be directly installed on the frame 1, the seat 3, or the battery compartment 601.

[0189] In some embodiments, the signal connection between the detection component and the computing power main control module 31 and the vehicle controller 33 can be a wiring harness connection or a wireless communication connection.

[0190] like Figure 14As shown, in some embodiments, to further improve the fitting degree of the visual sensor and the lidar 21 in terms of detection information, the existing outdoor work vehicle retrofit system 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 some embodiments, by physically locating them close together, the laser emitter of the lidar 21 and the lens of the periscope structure 30 are minimized as much as possible, and the periscope structure 30 then transmits the information entering the periscope structure 30 tube to the visual sensor. This makes the light-collecting point distance between the lidar 21 and the visual sensor closer, further improving the fitting degree of their detection information, thereby improving the accuracy of existing outdoor work vehicles in recognizing surrounding detection information.

[0191] In some embodiments, the retrofit system for existing outdoor work vehicles of this application also includes a hub motor. By replacing the front and rear wheels of the existing outdoor work vehicle with new front and rear wheels made of hub motors, and by installing ultrasonic sensors 18, visual sensors, lidar 21, millimeter-wave radar, infrared night vision devices, thermal imagers, or microwave radars on the hub motors according to actual usage requirements, the detection capability of the existing outdoor work vehicle to the external environment is improved, blind spots are reduced, and the safety of the existing outdoor work vehicle during operation is improved.

[0192] like Figure 6 and Figure 10 As shown, in some embodiments, this application also provides an intelligent outdoor work vehicle, obtained through the above-described installation method and system. The intelligent outdoor work vehicle includes: a walking component 5, configured to support the intelligent outdoor work vehicle's movement; the walking component 5 includes: a first walking wheel 501, rotatable about a first axis 28; a second walking wheel 502, rotatable about a second axis 29; a work component 4, configured to perform outdoor work; and multiple sensors, 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:

[0193]

[0194] Where L is the distance between the first axis 28 and the second axis 29, 1.5m≥L≥1m; X is the working radius of the working component 4 in the direction of travel of the intelligent outdoor working vehicle, 60inch≥X≥30inch; This indicates the floor function. This indicates the rounding up operation.

[0195] In some embodiments, when L is 1.2m and X is 42 inches, the number Y of sensors arranged around the intelligent outdoor work vehicle is 11, 12, or 13.

[0196] In some embodiments, the walking assembly 5 includes a first walking wheel 501 rotatable about a first axis 28 and a second walking wheel 502 rotatable about a second axis 29. The diameter of the first walking wheel 501 is larger than the diameter of the second walking wheel 502. Sensors are provided at both ends of the first walking wheel 501 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 501 at least partially overlaps with that of the sensor located at the other end of the walking wheel. When the diameter of the first walking wheel 501 is large, placing the sensors at both ends of the first walking wheel 501 helps to reduce the blind spots of sensor detection and improve the accuracy of sensor detection.

[0197] In some embodiments, the first traveling wheel 501 is the aforementioned rear traveling wheel, and the second traveling wheel 502 is the aforementioned front traveling wheel.

[0198] In some embodiments, the sensor's detection distance in the horizontal direction is 0.1m to 20m. In some embodiments, the sensor's detection range in the horizontal direction is 0.1m, 0.3m, 0.5m, 2m, 5m, 12m, or 20m.

[0199] In some embodiments, the sensor's detection distance in the vertical direction is 0.1m to 5m. In some embodiments, the sensor's detection distance in the vertical direction is 0.1m, 0.3m, 0.5m, 2m, or 5m.

[0200] In some embodiments, the sensor is at least one of an ultrasonic sensor 18, a vision sensor, and a lidar 21.

[0201] To avoid the impact of the height of the cut grass on the detection results, in some embodiments, the detection height of the sensor is not less than 0.1m, and in other embodiments, the detection height of the sensor is 0.1m, 0.14m or 0.15m.

[0202] In some embodiments, multiple sensors are arranged circumferentially around the intelligent outdoor work vehicle. In some embodiments, the sensors are ultrasonic sensors 18, and multiple ultrasonic sensors 18 are arranged around the intelligent outdoor work vehicle, with the sum of the detection ranges of the multiple ultrasonic sensors 18 providing full-angle coverage around the intelligent outdoor work vehicle.

[0203] In some embodiments, the number of sensors is 4 to 30. In some embodiments, the number of sensors is 4, 13, 20, or 30. Furthermore, one sensor is installed on each of the front, left, right, and rear sides of the intelligent outdoor work vehicle.

[0204] In some embodiments, the detection ranges of any two adjacent sensors among the plurality of sensors at least partially overlap.

[0205] In some embodiments, the intelligent outdoor work vehicle of this application further includes a computing power main control module 31, which is connected to multiple sensors and the vehicle controller 33 on the intelligent outdoor work vehicle. The computing power main control module 31 is used to process the sensing information of multiple sensors and transmit the processed information to the vehicle controller 33. The vehicle controller 33 controls the operation of the walking component 5 and / or the work component 4 according to the information.

[0206] like Figure 7 As 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.

[0207] 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.

[0208] 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.

[0209] like Figure 6As 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.

[0210] 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.

[0211] like Figure 16 As shown, in some embodiments, the intelligent outdoor work vehicle of this application is obtained through the above-described installation method and system. The intelligent outdoor work vehicle includes: a walking component 5 configured to support the intelligent outdoor work vehicle's movement; a work component 4 configured to perform outdoor work; 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 with different capacities; multiple sensors, each sensor including an axis 27 along the signal transmission direction in the top view direction of the intelligent outdoor work vehicle; among at least three adjacent sensors on at least one side of the intelligent outdoor work vehicle's front, rear, left, and right sides, the intersection of the axis 27 of the middle sensor with the axis 27 of one adjacent sensor is a first intersection point 25, and the intersection of the axis 27 of the middle sensor with the axis 27 of another adjacent sensor is a second intersection point 26, the first intersection point 25 and the second intersection point 26 being located on both sides of the three adjacent sensors respectively.

[0212] In some embodiments, refer to the appendix Figure 16 In the direction of travel of the intelligent outdoor work vehicle, the first intersection point 25 of the axes 27 of the two sensors closest to the rear of the vehicle is located on one side of the three adjacent sensors, and the distance between these two sensors is set relatively close, resulting in a smaller detection blind zone between these two sensors and close to the outer contour of the vehicle. The second intersection point 26 of the axes 27 of the two sensors closest to the front of the vehicle is located on the other side of the three adjacent sensors, and the detection edges of these two sensors are close to the outer contour line of the vehicle, thereby reducing the detection blind zone between these two sensors and close to the outer contour of the vehicle.

[0213] like Figure 12As shown, in some embodiments, this application also includes a computing power main control module 31 for receiving and processing information from sensors, and a vehicle controller 33 for controlling the intelligent outdoor work vehicle to walk in a predetermined direction and / or perform outdoor work. The vehicle controller 33 can control the operation of the walking component 5 and / or the work component 4 according to the information received by the computing power main control module 31.

[0214] like Figure 6 and Figure 7 As shown, in some embodiments, this application also provides an intelligent outdoor work vehicle with a collision detection device 23, obtained through the above-described installation method and system. The intelligent outdoor work vehicle includes: a frame 1, on which an energy source system 6 is mounted, the energy source system 6 being configured to power the intelligent outdoor work vehicle, the energy source system 6 including a battery compartment 601 and a detachable first type battery pack and / or a second type battery pack installed in the battery compartment 601, the first type battery pack and the second type battery pack having different capacities, at least one of the first type battery pack and / or the second type battery pack being usable for powering a handheld power tool after removal; a work component 4, configured to perform vegetation cutting; a walking component 5, configured to support the intelligent outdoor work vehicle's movement; a seat 3, configured for a user to sit on; a vehicle controller 33, configured to control the operation of at least one of the work component 4 and the walking component 5; and a collision detection device 23, signal-connected to the vehicle controller 33, the vehicle controller 33 being further configured to control the operation of at least one of the work component 4 and the walking component 5 based on the collision information from the collision detection device 23.

[0215] like Figure 15 As shown, in some embodiments, the collision detection device 23 includes a collision strip 2301, which has a first contact surface 23013 capable of contacting an obstacle. The intelligent outdoor work vehicle is equipped with a crash beam (not shown), generally located on the front side of the vehicle and closer to the rear side of the intelligent outdoor work vehicle than the collision strip 2301. The crash 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 6mm to 12mm. In some embodiments, the distance between the first contact surface 23013 and the second contact surface is 6mm, 10mm, or 12mm. The setting of the distance between the first contact surface 23013 and the second contact surface is related to the braking of the intelligent outdoor work vehicle. In the event of brake failure, the crash beam acts as a barrier for the intelligent outdoor work vehicle, stopping the vehicle in operation and minimizing damage caused by a collision.

[0216] like Figure 15As shown, in some embodiments, the collision detection device 23 includes a first conductor 2303 and a second conductor 2304, and the distance between the first conductor 2303 and the second conductor 2304 is in the range of 3mm to 5mm. In some embodiments, the distance between the first conductor 2303 and the second conductor 2304 is in the range of 3mm, 4mm or 5mm.

[0217] When the collision detection device 23 collides with an obstacle, the outer part of the collision strip 2301 first contacts the obstacle. Then, the collision strip 2301 deforms and squeezes the first conductor 2303 to move closer to the second conductor 2304. When the first conductor 2303 and the second conductor 2304 come into contact, a collision signal is triggered. The collision signal is transmitted to the vehicle controller 33, which then issues a corresponding command to stop the intelligent outdoor work vehicle from moving or working.

[0218] like Figure 15 As shown, in some embodiments, the collision strip 2301 has a receiving cavity 23012, and the first conductor 2303 and the second conductor 2304 are located in the receiving cavity 23012.

[0219] In some embodiments, the collision detection device 23 includes a collision strip 2301, the height of which is between 300mm and 400mm from the ground. In some embodiments, the height of the collision strip 2301 from the ground is 300mm, 350mm, or 400mm. This allows the collision strip 2301 to contact relatively low obstacles, ensuring that the collision detection device 23 has a large detection range and avoiding missed detection of low-height obstacles.

[0220] like Figure 15 As shown, in 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 portion, and the mounting base 2302 is provided with a second mounting portion that slides with the first mounting portion. In some embodiments, the first mounting portion is a slider 23011, and the second mounting portion is a groove 23021.

[0221] like Figure 7 and Figure 13 As shown, in some embodiments, the intelligent outdoor work vehicle also includes a headlight 24, and the distance between the headlight 24 and the collision strip 2301 in the direction of travel of the intelligent outdoor work vehicle is 100mm to 150mm.

[0222] like Figure 7 and Figure 13As shown, in some embodiments, the intelligent outdoor work vehicle also includes headlights 24, which are higher than the height of the collision detection device 23. With this arrangement, when encountering a relatively low obstacle, 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 of the collision detection device 23, thereby reducing the damage to the headlights 24 caused by the collision.

[0223] It should be noted that all descriptions of height in this application are based on the ground as the reference point.

[0224] like Figure 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.

[0225] 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.

[0226] 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.

[0227] 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: The walking component is configured to support the movement of the intelligent outdoor work vehicle; The task component is configured to perform outdoor tasks; An energy source system is configured to power the intelligent outdoor work vehicle, the energy source system comprising at least one of a first type of battery pack and a second type of battery pack with different capacities; Multiple sensors, in the top view of the intelligent outdoor work vehicle, each sensor includes an axis along the signal transmission direction; In the intelligent outdoor operation vehicle, among at least three adjacent sensors on one side (front, rear, left, and right), the intersection of the axis of the middle sensor with the axis of one of its adjacent sensors is the first intersection point, and the intersection of the axis of the middle sensor with the axis of another adjacent sensor is the second intersection point. The first intersection point and the second intersection point are located on both sides of the three adjacent sensors, respectively.

2. The intelligent outdoor work vehicle according to claim 1, characterized in that: The combined detection range of the multiple sensors provides full-angle coverage around the intelligent outdoor work vehicle.

3. 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.

4. The intelligent outdoor work vehicle according to claim 1, characterized in that: The preset angle of the sensor relative to the horizontal plane is -15° to 20°.

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

6. The intelligent outdoor work vehicle according to claim 5, characterized in that: The vision sensor includes at least one of a monocular camera, a multi-view camera, and a depth camera.

7. The intelligent outdoor work vehicle according to claim 5, characterized in that: The detection height of the ultrasonic sensor is not less than 0.1m.

8. 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.

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

10. 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.

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