Height adjusting device of self-moving equipment and self-moving equipment
By installing a height adjustment device with multiple position sensors and triggers on the lawnmower, the problem of inaccurate blade height adjustment under environmental changes is solved, improving the adjustment accuracy and efficiency of the self-moving equipment.
Patent Information
- Application Number
- CN202520269069.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-02-19
- Publication Date
- 2026-01-13
- Estimated Expiration
- 2035-02-19
AI Technical Summary
The existing height adjustment devices of lawnmowers have difficulty accurately determining the reference height of the cutter head when the working environment changes, especially when there is accumulated grass or local protrusions, leading to adjustment failure.
At least two position sensors are used in conjunction with triggers to determine the current height of the working components by sensing trigger signals. The controller adjusts the height of the cutter head according to the signals to avoid the influence of environmental changes.
It improves the accuracy and efficiency of height adjustment for self-moving devices, avoiding adjustment failures caused by environmental changes.
Smart Images
Figure CN223786645U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of garden tool technology, and in particular to a height adjustment device for a self-moving device and the self-moving device itself. Background Technology
[0002] A smart lawnmower is a tool used for trimming lawns, vegetation, etc. The lawnmower has a cutting device at its bottom to cut and trim the lawn. The lawnmower includes a height adjustment device, and the cutting device includes a blade head mounted on the height adjustment device. During operation, the height of the blade head is adjusted using the height adjustment device to suit the lawnmower's working needs.
[0003] In existing technology, a Hall sensor is installed on the height adjustment device. When the lawnmower receives a height adjustment command, it determines the reference height of the cutter head by locating the Hall sensor, and then adjusts the height of the cutter head based on the reference height. However, as the working environment changes, such as when the grass in the working area is too high, the floating cutter head is easily raised, making it impossible to locate the Hall sensor, thus making it impossible to determine the reference height of the cutter head and adjust its height. Utility Model Content
[0004] In view of this, the purpose of this application is to provide a height adjustment device for a self-moving device and a self-moving device.
[0005] To achieve the above-mentioned objectives, this application provides a height adjustment device for a self-moving device, the self-moving device comprising: a body;
[0006] The working component is located on the machine body and is used to execute working instructions;
[0007] The height adjustment device is at least partially connected to the working component and is used to drive the working component to move;
[0008] The height adjustment device includes:
[0009] Triggers are set in the working component;
[0010] Position sensors are installed on the body, and there are at least two position sensors, with any two position sensors having a height difference in the vertical direction;
[0011] The trigger and the position sensor sense each other to confirm whether the position sensor has been triggered.
[0012] As a further improvement to the embodiments of this disclosure, the position sensor is a non-contact sensor;
[0013] The horizontal distance between the trigger and any position sensor is less than a preset distance threshold.
[0014] As a further improvement to the embodiments of this disclosure, the position sensor is a contact sensor;
[0015] The position sensor moves relative to the trigger so that either position sensor comes into contact with the trigger to sense each other.
[0016] As a further improvement to the embodiments of this disclosure, the height difference between any two position sensors in the vertical direction is greater than a preset height threshold, so that the detection ranges of the position sensors do not overlap.
[0017] As a further improvement to the embodiments of this disclosure, the height difference between any two position sensors in the vertical direction is 12 mm.
[0018] As a further improvement to the embodiments of this disclosure, each position sensor is disposed within the axial adjustment path of the working component along the axial direction of the working component.
[0019] As a further improvement to the embodiments of this disclosure, a mounting groove is provided on the body, and the position sensor is embedded in the mounting groove;
[0020] Alternatively, the position sensor may be fixed to the machine body with screws.
[0021] As a further improvement to the embodiments of this disclosure, the self-moving device is a lawnmower.
[0022] As a further improvement to the embodiments of this disclosure, the working components include:
[0023] Cutter head;
[0024] The height adjustment link is fixedly connected to the cutter head; a height adjustment knob is located on the side of the height adjustment link away from the cutter head.
[0025] The screw is located on one side of the height adjustment knob, and the height adjustment knob is embedded in the screw.
[0026] The drive linkage is embedded on the side of the screw where the height adjustment knob is not located;
[0027] The height adjustment motor is connected to the drive linkage. When the height adjustment motor is working, the drive linkage rotates and drives the screw to move. The screw drives the height adjustment linkage to move synchronously through the height adjustment knob. The height adjustment linkage drives the cutter head to reciprocate in the vertical direction.
[0028] The trigger is located on the screw.
[0029] To achieve the aforementioned objectives, this application provides a self-moving device, comprising:
[0030] body;
[0031] The working component is located on the machine body and is used to execute working instructions;
[0032] And the height adjustment device mentioned above;
[0033] The height adjustment device is at least partially connected to the working component and is used to drive the working component to move in the vertical direction.
[0034] The height adjustment device and self-moving device of this disclosure are provided by setting at least two position sensors that cooperate with the trigger. Different position sensors can sense the trigger to send trigger signals to the controller at different positions. The controller can easily determine the current height of the working component based on the received trigger signals. In this way, the problem of grass accumulation and local protrusions in the working area raising the working component and causing the inability to receive trigger signals is avoided. The adjustment accuracy of the self-moving device is improved and the practical efficiency is improved. Attached Figure Description
[0035] To more clearly illustrate the technical solutions in this application or related technologies, the drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0036] Figure 1 This is a schematic diagram of the lawnmower provided in this disclosure;
[0037] Figure 2 for Figure 1 A schematic diagram of the structure of the working component;
[0038] Figure 3 , Figure 4 They are Figure 2 Schematic diagram of the screw at different angles.
[0039] The symbols in the attached image are explained as follows:
[0040] 10. Machine body; 11. Position sensor; 30. Working components; 31. Trigger; 33. Cutter head; 34. Height adjustment linkage; 35. Height adjustment knob; 36. Screw; 37. Drive linkage. Detailed Implementation
[0041] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with specific embodiments and the accompanying drawings.
[0042] It should be noted that, unless otherwise defined, the technical or scientific terms used in the embodiments of this application should have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms "first," "second," and similar terms used in the embodiments of this application do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are only used to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.
[0043] Self-moving devices are robots that are equipped with all necessary visual recognition components and controllers, and can independently complete certain tasks without external human input or control during operation. Examples of self-moving devices include intelligent lawnmowers and automatic snow-sweeping robots, which automatically move across the ground or surface of their work area to perform tasks such as mowing lawns and shoveling snow.
[0044] like Figure 1 As shown, this disclosure provides a height adjustment device for a self-moving device. In this embodiment, a lawnmower is used as an example for specific description of the self-moving device. The lawnmower includes: a body 10; a moving module disposed below the body and driving the body to move; a height-adjustable working component 30, which is disposed on the body 10 and used to execute working commands; the working component 30 is connected to a height adjustment motor through a transmission component; the height adjustment device is at least partially connected to the working component 30 and is used to drive the working component 30 to move.
[0045] Combination Figures 2-4 As shown, the height adjustment device includes: a trigger 31, which is disposed on the working component 30 and configured to move vertically following the movement of the working component 30; a position sensor 11, which is disposed on the body 10, and there are at least two position sensors 11. The position sensors 11 are configured to communicate with the controller and are used to be triggered by the trigger to generate a trigger signal; any two position sensors 11 have a height difference in the vertical direction; the horizontal distance between the trigger 31 and any position sensor 11 is less than a preset horizontal distance threshold; the trigger 31 and the position sensor 11 sense each other to confirm whether the position sensor 11 is triggered, and if the trigger 31 triggers the position sensor 11, the position sensor 11 generates a trigger signal.
[0046] The controller is configured to acquire a trigger signal and determine the current height of the working component based on the trigger signal; the controller is also configured to acquire a target height of the working component, generate an operating command based on the current height and the target height of the working component, and send the operating command to the height adjustment motor; the height adjustment motor is configured to drive the working component to rise or fall to the target height according to the operating command; the controller is also configured to receive a height calibration command, and when the controller receives a height calibration command, if the current controller has not received any trigger signal, it controls the height adjustment motor to drive the working component to rise or fall to acquire a trigger signal, and determines the current height of the working component based on the trigger signal.
[0047] The height adjustment device disclosed herein uses at least two position sensors that cooperate with the trigger element. Different position sensors can sense the trigger element separately to send trigger signals to the controller at different positions. The controller can easily determine the current height of the working component based on the received trigger signals. This avoids the problem of grass accumulation and local protrusions in the working area raising the working component and causing the inability to receive trigger signals. It improves the adjustment accuracy of the self-moving device and enhances practical efficiency.
[0048] In the implementation of this disclosure, the position sensor 11 is a non-contact sensor and / or a contact sensor. When the position sensor 11 is a non-contact sensor, the horizontal distance between the trigger 31 and any position sensor 11 is less than a preset distance threshold. This prevents the trigger 31 from being too far from the position sensor 11 to detect the trigger signal. When the position sensor 11 is a contact sensor, the position sensor 11 moves relative to the trigger 31 so that either position sensor 11 and the trigger 31 come into contact and sense each other. Here, the movement of the position sensor 11 relative to the trigger 31 means that the position sensor 11 and the trigger 31 move towards each other so that they come into contact and thus sense and generate a trigger signal; the movement towards each other can be one of them moving towards the other, or both of them moving, which will not be elaborated further here.
[0049] Preferably, the height difference between any two position sensors 11 in the vertical direction is greater than a preset height threshold, so that the detection ranges of the position sensors 11 do not overlap. Preferably, the height difference between any two position sensors 11 in the vertical direction is 12 mm.
[0050] The number of position sensors 11 can be customized. In the preferred embodiment of this disclosure, considering cost and ease of installation, the number of position sensors 11 is set to 2.
[0051] The interaction between the position sensor 11 and the trigger 31 can be changed as needed. In a preferred embodiment of this disclosure, the position sensor 11 is a Hall element, such as a Hall sensor; correspondingly, the trigger 31 is a magnet. Different Hall sensors correspond to different interfaces, and the interface that detects the Hall signal is used to determine which Hall sensor is triggered to generate a trigger signal. Different position sensors correspond to fixed height values. Therefore, the current height of the working component can be determined by the Hall sensor that generates the trigger signal. It should be noted that the detection range of the Hall sensor is not limited. The detection range of the Hall sensor is determined based on the strength of the magnet, and it is only necessary to ensure that the detection ranges of adjacent Hall sensors do not overlap.
[0052] In other embodiments of this disclosure, the position sensor 11 may also be a micro switch or a reed switch.
[0053] In this disclosed embodiment, along the axial direction of the working assembly 30, each of the position sensors 11 is disposed within the axial adjustment path of the working assembly 30. Preferably, in the vertical direction, the height of the topmost position sensor 11 is lower than the maximum upward adjustment height of the working assembly 30; the height of the bottommost position sensor 11 is higher than the minimum downward adjustment height of the working assembly 30.
[0054] In a specific example of this disclosure, the adjustment path range of the working component varies from model to model, such as 10-60 / 30-60 / 40-90mm. The number of position sensors 11 in the working component is set to 2. The height of the position sensor at the higher position is set to 52mm, and the height of the position sensor at the lower position is set to 40mm. This ensures that it is not easily triggered by dense grass, that is, when the grass is not so tall or dense, the position sensor at the lower position can be triggered by the triggering element.
[0055] In this disclosed embodiment, a mounting groove is provided on the body 10, and the position sensor 11 is embedded in the mounting groove; or the position sensor 11 is fixed to the body 10 by screws; of course, in other embodiments of this disclosure, the position sensor 11 can also be fixed to the body 10 by adhesive or other means, which will not be elaborated further here. In addition, the position sensor 11 can be waterproofed. The waterproofing of the position sensor 11 can be done along with the waterproofing of the entire lawnmower, or it can be waterproofed separately, so that the position sensor 11 can adapt to various usage environments, which will not be elaborated further here.
[0056] like Figure 2As shown, the working assembly 30 includes: a cutter head 33 for cutting lawn; a height adjustment link 34 fixedly connected to the cutter head 33 for driving the cutter head 33 in linkage; a height adjustment knob 35 disposed on the side of the height adjustment link 34 away from the cutter head 33; a screw 36 disposed on the side of the height adjustment knob 35, with the height adjustment knob 35 embedded in the screw 36; a drive link 37 disposed on the side of the screw 36 without the height adjustment knob 35; and a height adjustment motor, with the drive link 37 disposed on the output shaft of the height adjustment motor and driven to rotate by the height adjustment motor. In one implementation of this disclosure, the drive link 37 is used as the output shaft of the height adjustment motor.
[0057] The screw 36 extends axially to accommodate adjacent components, functioning as a flange. The drive rod 37 is threaded onto one end of the screw 36 to reduce friction and increase smoothness. The outer wall of the screw 36 extends into a helical surface, and the height adjustment rod 34 is connected to this surface via a linkage structure. When the height adjustment motor drives the drive rod 37 to rotate, the screw 36 rotates accordingly. The outer wall of the screw 36 is a helical surface, and the height adjustment rod 34 moves up and down following the undulations of this surface via a linkage structure. The height adjustment rod 34 drives the cutter head 33 to move up and down synchronously in the vertical direction.
[0058] Accordingly, the height adjustment motor drives the working component to rise or fall; the height adjustment motor is configured to calculate the number of rotations of the drive linkage 37 based on the height difference between the target height and the current height, and the cutter head adjustment height corresponding to one rotation of the height adjustment motor output shaft.
[0059] The operation adjustment command includes: the rotation direction and the calculated number of rotations of the drive link 37; the height adjustment motor is configured to: upon receiving the operation command, drive the drive link 37 to rotate according to the rotation direction and number of rotations indicated by the operation command.
[0060] Preferably, the trigger is located at the end of the height adjustment motor near the drive linkage 37.
[0061] In a preferred embodiment of this disclosure, a counting Hall sensor is provided on the drive link 37 for counting; the controller calculates the target number of Hall pulses that the controller should receive during this height adjustment process based on the number of rotations of the drive link 37; the controller controls the drive link 37 to rotate and records the actual number of Hall pulses generated by the counting Hall sensor; when the actual number of Hall pulses acquired by the controller is equal to the target number of Hall pulses, the controller instructs the drive link 37 to stop rotating.
[0062] For example, assuming that the drive linkage 37 can detect 4 Hall pulses per revolution, the number of Hall pulses detected can be used to determine whether the number of revolutions of the drive linkage 37 meets the requirement. When the number of Hall pulses meets the requirement, it indicates that the number of revolutions of the drive linkage 37 meets the requirement, meaning that the height adjustment of the working component is in place, and the controller stops the height adjustment motor. By setting a counting Hall sensor, the actual number of revolutions of the drive linkage 37 can be accurately obtained, allowing for more precise adjustment of the height stroke of the working component by driving the drive linkage 37 to rotate via the height adjustment motor.
[0063] In summary, the height adjustment device and self-moving device of this disclosure, by setting at least two position sensors that cooperate with the trigger element, allow different position sensors to sense the trigger element and send trigger signals to the controller at different positions. The controller can easily determine the current height of the working component based on the received trigger signals. This avoids the problem of grass accumulation and local protrusions in the working area raising the working component, which would prevent the trigger signal from being received and thus prevent the determination of the reference height of the cutter head, resulting in inaccurate cutter head height adjustment. This improves the adjustment accuracy of the self-moving device and increases its efficiency.
[0064] It should be noted that the above description describes some embodiments of this disclosure. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps described in the claims can be performed in a different order than that in the above embodiments and still achieve the desired result. In addition, the processes depicted in the drawings do not necessarily require the specific order or sequential order shown to achieve the desired result.
[0065] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of this disclosure (including the claims) is limited to these examples; within the framework of this disclosure, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of the embodiments of this disclosure as described above, which are not provided in detail for the sake of brevity.
[0066] This disclosure is intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.
Claims
1. A height adjustment device for a self-moving device, the self-moving device comprising: The machine body; The working assembly is arranged on the machine body and used for executing working instructions; The height adjustment device is at least partially connected with the working assembly and used for driving the working assembly to move; The height adjustment device comprises: The trigger is arranged on the working assembly; The position sensor is arranged on the machine body, and the number of the position sensors is at least two, and any two of the position sensors have a height difference in the vertical direction; The trigger and the position sensor are in mutual induction to confirm whether the position sensor is triggered.
2. The height adjustment device of a self-moving device according to claim 1, characterized in that, The position sensor is a non-contact sensor; The horizontal distance between the trigger and any position sensor is less than a preset distance threshold.
3. The height adjustment device of a self-moving device according to claim 1, characterized in that, The position sensor is a contact sensor; The position sensor moves relative to the trigger to make any position sensor in mutual contact induction with the trigger.
4. The height adjustment device of a self-moving apparatus according to claim 1, wherein The height difference between any two position sensors in the vertical direction is greater than a preset height threshold, so that the detection ranges of the position sensors do not overlap.
5. The height adjustment device of a self-moving device according to claim 1, wherein, The height difference between any two position sensors in the vertical direction is 12 mm.
6. The height adjustment device of a self-moving device according to claim 1, wherein, In the axial direction of the working assembly, any position sensor is arranged in the axial adjustment path of the working assembly.
7. The height adjustment device of a self-moving apparatus according to claim 1, wherein The machine body is provided with a mounting groove, and the position sensor is embedded in the mounting groove. Or the position sensor is fixedly arranged on the machine body by screws.
8. The height adjustment device of a self-moving apparatus according to any one of claims 1 to 7, characterized in that, The self-moving device is a lawn mower.
9. The height adjustment device of a self-moving device according to claim 8, characterized in that, The working assembly comprises: The cutter head; The height adjustment connecting rod is fixedly connected with the cutter head, and a height adjustment knob is arranged on the side of the height adjustment connecting rod away from the cutter head; The screw rod is arranged on one side of the height adjustment knob, and the height adjustment knob is embedded in the screw rod; The driving connecting rod is embedded in the side of the screw rod away from the height adjustment knob; The height adjustment motor is connected with the driving connecting rod, and when the height adjustment motor works, the driving connecting rod rotates to drive the screw rod to move, the screw rod drives the height adjustment connecting rod to synchronously move through the height adjustment knob, and the height adjustment connecting rod drives the cutter head to reciprocate in the vertical direction; The trigger is arranged on the screw rod.
10. A self-moving device, characterized by The machine body; The working assembly is arranged on the machine body and used for executing working instructions; The height adjustment device as claimed in any one of claims 1-9; The height adjustment device is at least partially connected with the working assembly and used for driving the working assembly to move in the vertical direction.