Anti-collision device and mowing robot

Abstract

The utility model discloses an anti-collision device which is arranged at the front end of a machine body of a mowing robot and comprises a protective shell, a connecting assembly is arranged between the protective shell and the machine body and used for enabling the protective shell to be movably connected with the front end of the machine body, and the two ends of the protective shell are bent and close to the two sides of the machine body. A collision detection assembly is arranged between the protection shell and the machine body, electrically connected with a controller in the machine body and used for sensing the distance between the protection shell and the machine body, and when the protection shell is located at the initial position, the machine body is powered on, and when the protection shell moves to the detection position limited by the collision detection assembly, the collision detection assembly is powered off. The collision detection assembly controls the machine body to be powered off and stop running; a mowing robot comprises a robot body, and a walking device is arranged at the bottom of the robot body. The utility model further discloses the anti-collision device for the mowing robot. According to the anti-collision device and the mowing robot provided by the utility model, the mowing robot can actively stop moving and be powered off when encountering a hard object.

Description

Technical Field

[0001] This utility model relates to the field of intelligent gardening equipment technology, especially field mowing technology, and more specifically, to a walking device for a mowing robot and a mowing robot. Background Technology

[0002] Against the backdrop of booming technological innovation and high-end manufacturing, the robotics industry has undoubtedly become a global focus. Many major economies are committed to maintaining and enhancing their manufacturing competitiveness through development in this field. Particularly in the smart home sector, robots are increasingly integrated into daily life, with various types gradually replacing human labor to perform complex household chores.

[0003] Specifically in the field of lawn mowing technology, lawn mowing robots have been widely used in lawn trimming and maintenance. Existing lawn mowing robots possess a variety of advanced functions, greatly facilitating lawn maintenance. They feature automatic walking capabilities, allowing them to operate autonomously on lawns along preset paths without requiring full manual control; they are equipped with collision prevention sensors to effectively avoid collisions with surrounding obstacles, ensuring operational safety; they also have a line-avoidance mechanism, enabling them to operate within a limited area and ensuring accuracy in the mowing area; and they can automatically return to their charging station to maintain continuous operation. They also have safety detection and battery level monitoring functions, further enhancing the reliability and safety of the equipment. Furthermore, they possess a certain climbing ability, making them suitable for various terrains such as home gardens and public green spaces, efficiently completing lawn trimming and maintenance tasks.

[0004] However, current lawnmower robots still face some pressing issues in practical use. When encountering hard objects, they lack intelligent response mechanisms and do not proactively stop moving, causing them to continuously collide with hard surfaces while the blades spin idly. This not only accelerates the wear and tear on critical components, shortens the equipment's lifespan, and increases maintenance costs, but also risks motor overheating due to prolonged idling, posing safety hazards and severely impacting the user experience and marketability of lawnmower robots.

[0005] For example, Chinese invention patent CN115705046A, published on February 7, 2023, includes a walking device for facilitating the walking of a lawnmower robot along a first direction on a physical surface; a power device for driving the walking device; a detection device for detecting the posture of the lawnmower robot; and a control device for applying a control signal to the lawnmower robot when the posture meets predetermined conditions. The control signal generates resistance in the walking device, which hinders the tendency of at least a portion of the walking device to move along the first direction. Its main purpose is to achieve better control over its own operating or working state in various non-ideal working environments or when needed, such as one or more of faster braking, more precise turning, and more robust balance; or to enable the lawnmower robot to have more precise control capabilities in non-ideal working environments or when needed, such as improving the balance of the lawnmower robot, increasing its work efficiency, such as enabling rapid and accurate response in the event of abnormal events or when needed. However, this solution fails to address the problem that the lawnmower robot lacks an intelligent response mechanism when encountering hard objects, and therefore does not actively stop moving, causing the robot to continuously collide with hard objects.

[0006] Therefore, how to enable lawnmower robots to actively stop moving when encountering hard objects is a technical problem that the industry urgently needs to solve. Utility Model Content

[0007] The present invention aims to overcome the shortcomings of the prior art and provide an anti-collision device and a lawn mowing robot to solve the problem that existing lawn mowing robots lack an intelligent response mechanism when encountering hard objects, and do not actively stop moving, causing the robot to continuously collide with hard objects while the blade disc continues to spin idly.

[0008] The technical solution adopted by this utility model is to provide an anti-collision device, which is set at the front end of the body of the lawnmower robot, including a protective shell, and a connecting component is provided between the protective shell and the body. The connecting component is used to movably connect the protective shell to the front end of the body, and the two ends of the protective shell are bent and close to the sides of the body.

[0009] A collision detection component is installed between the protective shell and the main body. The collision detection component is electrically connected to the controller inside the main body and is used to sense the distance between the protective shell and the main body. When the protective shell is in the initial position, the main body is powered on. When the protective shell moves to the detection position defined by the collision detection component, the collision detection component controls the main body to cut off the power and stop operating.

[0010] In one embodiment, the connecting assembly comprises multiple longitudinally arranged, elastic connecting columns, with both ends of each column detachably connected to the body and the protective shell, respectively. When the protective shell encounters a collision, the connecting columns undergo elastic deformation, causing a change in the relative position of the protective shell and the body.

[0011] In one embodiment, the connecting assembly includes a first connector disposed on the protective shell and a second connector disposed on the body. The first and second connectors are rotatably connected by a locating pin, and a return spring is provided between the first connector or the protective shell and the body. When the protective shell encounters a collision, the return spring is compressed; when the obstacle in front disappears, the return spring is extended, causing the protective shell to return to its initial position.

[0012] In one embodiment, the collision detection component includes a magnetic block and a Hall switch. The magnetic block is disposed on one end of the protective shell near the main body, and the Hall switch is disposed on the main body. The Hall switch senses the distance between the magnetic block and the Hall switch through a magnetic field. The Hall switch is electrically connected to a controller inside the main body. When the protective shell is involved in a collision, the magnetic block moves due to the connection component, causing the magnetic field strength at the Hall switch to fall below the magnetic field strength threshold required to trigger the Hall switch. In this case, the Hall switch controls the main body to cut off power.

[0013] In one embodiment, the collision detection assembly includes a push rod mounted on a protective shell and a contact switch mounted on the main body. The end of the push rod away from the protective shell abuts against the end of the contact switch away from the main body. The contact switch is electrically connected to a controller inside the main body. When the push rod abuts against the contact switch, the main body is energized. When the protective shell encounters a collision, the push rod moves, causing it to no longer abut against the contact switch, and the contact switch, via the controller, de-energizes the main body.

[0014] A lawn mowing robot includes a body, a walking device at the bottom of the body, and a collision avoidance device for the aforementioned lawn mowing robot.

[0015] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0016] This utility model provides an anti-collision device and a lawnmower robot, which enables the lawnmower robot to actively stop moving and cut off power when it encounters a hard object, preventing the lawnmower robot's blade from spinning idly and preventing the lawnmower robot from continuously colliding with hard objects. Attached Figure Description

[0017] Figure 1 This is a top view of an anti-collision device provided in Embodiment 1;

[0018] Figure 2 for Figure 1 A magnified view of a portion of point A in the middle;

[0019] Figure 3 This is a top view of an anti-collision device provided in Embodiment 3;

[0020] Figure 4 for Figure 3 A magnified view of a portion of point B in the middle;

[0021] Figure 5 This is a structural schematic diagram of a lawnmower robot provided in Example 5.

[0022] Label Explanation:

[0023] Protective shell 100, body 200, connecting assembly 300, return spring 301, first connector 302, second connector 303, collision detection assembly 400, magnetic block 401, Hall switch 402, push rod 403, contact switch 404, walking device 500. Detailed Implementation

[0024] The accompanying drawings are for illustrative purposes only and should not be construed as limiting the scope of this invention. To better illustrate the following embodiments, some components in the drawings may be omitted, enlarged, or reduced, and do not represent the actual dimensions of the product. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0025] Example 1

[0026] like Figure 1-2As shown, this embodiment provides an anti-collision device, which is installed at the front end of the body 200 of a lawnmower robot. It includes a protective shell 100, and a connecting component 300 is provided between the protective shell 100 and the body 200. The connecting component 300 is used to movably connect the protective shell 100 to the front end of the body 200. The two ends of the protective shell 100 are bent and close to the sides of the body 200, so that the protective shell 100 can withstand frontal and lateral collisions to the front end of the body 200. A connection is provided between the protective shell 100 and the body 200. A collision detection component 400 is provided, which is electrically connected to a controller inside the body 200. This component senses the distance between the protective shell 100 and the body 200. When the protective shell 100 is in its initial position, the body 200 is energized. When the protective shell 100 moves to the detection position defined by the collision detection component 400 (the collision detection component 400 is respectively installed on the protective shell 100 and the body 200), the collision detection component 400 senses the position of the protective shell 100 and the body 200 through a magnetic field. When the relative positions of the protective shell 100 and the body 200 change, the collision detection component 400 receiving the magnetic field will change due to the positional movement of the collision detection component 400 releasing the magnetic field. When the magnetic field strength of the collision detection component 400 receiving the magnetic field is less than the magnetic field strength threshold for triggering the action of the collision detection component 400, the collision detection component 400 controls the body 100 to be powered off. The relative position of the protective shell 100 and the body 200 at this time is the defined detection position. When the collision detection component 400 senses the position of the protective shell 100 and the body 200 through contact, and the collision detection component 400 on the body 200 and the collision detection component 400 on the protective shell 100 no longer contact each other, the collision detection component 400 controls the body 100 to be powered off. The relative position of the protective shell 100 and the body 200 at this time is the defined detection position. The collision detection component 400 controls the body 200 to be powered off and stop operating to prevent further damage to the body 200 due to the collision of the protective shell 100 with the body 200.

[0027] In one embodiment, the connecting component 300 comprises a plurality of longitudinally arranged connecting posts with elasticity. The two ends of each connecting post are detachably connected to the body 200 and the protective shell 100, respectively. When the protective shell 100 encounters a collision, the connecting posts undergo elastic deformation, causing a change in the relative position of the protective shell 100 and the body 200 (the longitudinal arrangement of the connecting posts makes it easier to change the relative position of the protective shell 100 and the body 200, thus improving the detection sensitivity of the collision detection component 400). In this example, the connecting posts are preferably made of rubber or silicone. Rubber or silicone connecting posts are simple and readily available materials with good elasticity, which helps reduce equipment costs.

[0028] In one embodiment, the collision detection component 400 includes a magnetic block 401 and a Hall switch 402. The magnetic block 401 is disposed on the end of the protective shell 100 near the body 200, and the Hall switch 402 is disposed on the body 200. The Hall switch 402 senses the distance between the magnetic block 401 and the Hall switch 402 through a magnetic field. The Hall switch 402 is electrically connected to a controller inside the body 200. (When the protective shell 100 is hit by a collision, the magnetic block 401 will move due to the connection component 300, resulting in the magnetic field strength at the Hall switch 402 being less than the magnetic field strength threshold for triggering the Hall switch 402. The Hall switch 402 controls the body 100 to cut off power in various embodiments in the prior art. The specific structure of the Hall switch 402 and the magnetic block 401 will not be described in detail here.) By electronically sensing the distance between the protective shell 100 and the body 200, the method is highly accurate, has a long service life, and is not easily damaged.

[0029] Example 2

[0030] In this embodiment, the magnetic block 401 is disposed on the body 200, and the Hall switch 402 is disposed on the protective shell 100 near the body 200.

[0031] In this embodiment, the effect is the same as that in Embodiment 1 (where the magnetic block 401 is disposed on the end of the protective shell 100 near the body 200, and the Hall switch 402 is disposed on the body 200).

[0032] Other solutions are consistent with Embodiment 1 and have the same technical effects as Embodiment 1, and will not be described in detail in this embodiment.

[0033] Example 3

[0034] like Figure 3-5 As shown, in this embodiment, the connecting assembly 300 includes a first connecting member 302 disposed on the protective shell 100 and a second connecting member 303 disposed on the body 200. The first connecting member 302 and the second connecting member 303 are rotatably connected by a positioning pin. A return spring 301 is provided between the first connecting member 302 or the protective shell 100 and the body. When the protective shell 100 encounters a collision, the return spring 301 is compressed. When the obstacle in front disappears, the return spring 301 is extended, so that the protective shell 100 returns to its initial position.

[0035] In this embodiment, compared with the method of connecting the protective shell 100 and the body 200 through the connecting post 301 in Embodiment 1, the protective shell 100 rotates outside the body 200 in Embodiment 3. The elastic performance of the return spring 301 is more stable and can maintain the same elastic characteristics over a wide temperature range. In contrast, the return of the connecting post 301 is greatly affected by temperature, and its performance will decrease significantly at high or low temperatures. Moreover, the return spring 301 is less prone to aging or creep than the connecting post 301.

[0036] Other solutions are consistent with Embodiment 1 and have the same technical effects as Embodiment 1, and will not be described in detail in this embodiment.

[0037] Example 4

[0038] The collision detection assembly 400 includes a push rod 403 disposed on the protective shell 100 and a contact switch 404 disposed on the body 200. The end of the push rod 403 away from the protective shell 100 abuts against the end of the contact switch 404 away from the body 200. The contact switch 404 is electrically connected to a controller inside the body 200. When the push rod 403 abuts against the contact switch 404, the body 200 is energized. When the protective shell 100 encounters a collision, the push rod 403 moves, causing the push rod 403 to no longer abut against the contact switch 404. The contact switch 404 then controls the body 200 to be de-energized via the controller.

[0039] In this embodiment, compared with the magnetic field strength threshold of Hall switch 402 triggering action in embodiment 3, push rod 403 will not lose magnetism during long-term use, thereby reducing the maintenance cost of the anti-collision device.

[0040] Other solutions are consistent with Embodiment 3 and have the same technical effects as Embodiment 1, and will not be described in detail in this embodiment.

[0041] Example 5

[0042] like Figure 5 As shown, this embodiment provides a lawnmower robot, with a walking device 500 at the bottom of the body 200, and also includes the aforementioned anti-collision device.

[0043] This embodiment provides an anti-collision device and a lawnmower robot, which enables the lawnmower robot to actively stop moving and cut off power when it encounters a hard object, preventing the lawnmower robot's blades from spinning idly and preventing the lawnmower robot from continuously colliding with hard objects.

[0044] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the technical solution of this utility model, and are not intended to limit the specific implementation of this utility model. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the claims of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A collision avoidance device provided at a front end of a body (200) of a mowing robot, characterized in that, The application relates to a collision-preventing device, which comprises a protective shell (100), a connecting assembly (300) arranged between the protective shell (100) and a body (200), the connecting assembly (300) being used for movably connecting the protective shell (100) with the front end of the body (200), and the two ends of the protective shell (100) being bent and close to the two sides of the body (200). A collision detection assembly (400) is arranged between the protective shell (100) and the body (200), the collision detection assembly (400) being electrically connected with a controller inside the body (200) and being used for sensing the distance between the protective shell (100) and the body (200), the body (200) being powered when the protective shell (100) is located at an initial position, and the collision detection assembly (400) controlling the body (200) to stop running when the protective shell (100) moves to a detection position defined by the collision detection assembly (400).

2. A collision avoidance device according to claim 1, characterised in that The connecting assembly (300) is a plurality of longitudinally arranged connecting columns with elasticity, the two ends of the connecting columns being detachably connected with the body (200) and the protective shell (100) respectively.

3. The anti-collision device of claim 1, wherein The connecting assembly (300) comprises a first connecting piece (302) arranged on the protective shell (100) and a second connecting piece (303) arranged on the body (200), the first connecting piece (302) and the second connecting piece (303) being rotatably connected through a positioning pin, and a reset spring (301) being arranged between the first connecting piece (302) or the protective shell (100) and the body.

4. The anti-collision device of claim 1, wherein, The collision detection assembly (400) comprises a magnetic block (401) and a Hall switch (402), the magnetic block (401) being arranged on one end of the protective shell (100) close to the body (200), the Hall switch (402) being arranged on the body (200), the Hall switch (402) sensing the distance between the magnetic block (401) and the Hall switch (402) through a magnetic field, and the Hall switch (402) being electrically connected with the controller inside the body (200).

5. The anti-collision device of claim 1, wherein, The collision detection assembly (400) comprises a push rod (403) arranged on the protective shell (100) and a contact switch (404) arranged on the body (200), one end of the push rod (403) far from the protective shell (100) abutting against one end of the contact switch (404) far from the body (200), and the contact switch (404) being electrically connected with the controller inside the body (200).

6. A mowing robot comprising a body (200), the bottom of the body (200) being provided with a walking device (500), characterized in that, The application further relates to the collision-preventing device as claimed in any one of claims 1-5.

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