Intelligent mower

Abstract

The utility model discloses an intelligent mower which comprises a supporting piece and an integrated sensing device, and the integrated sensing device is arranged on the supporting piece. The integrated sensing device comprises at least two of a navigation unit for navigation of the intelligent mower, an obstacle avoidance unit for obstacle avoidance of the intelligent mower and a weather detection unit for weather detection of the intelligent mower; or the integrated sensing device comprises an integrated sensing unit, and the integrated sensing unit is used for at least two of navigation, obstacle avoidance and weather detection of the intelligent mower. The integrated sensing device arranged on the machine shell of the mower can at least achieve two of the navigation function, the obstacle avoidance function and the weather detection function, the hardware structure is simplified, meanwhile, the problem that a control system is complex due to the fact that a plurality of external sensors are adopted in the prior art is solved, cost is saved, and the experience feeling of products is improved.

Description

[0001] Cross-references to related applications

[0002] This application is a divisional application. The original application, application number 202323572525.6, was filed on December 26, 2023. The entire contents of the original application are incorporated herein by reference. Technical Field

[0003] This utility model belongs to the field of power tool technology, specifically relating to an intelligent lawnmower. Background Technology

[0004] Lawn mowing, as a fundamental task in lawn maintenance, requires the use of simple and efficient mowing machinery to complete the task with both quality and quantity. Lawn mowers are widely popular in the market due to their ease of operation and high mowing efficiency, allowing people to complete lawn mowing tasks, trim lawns, and maintain their neatness.

[0005] Early lawnmowers on the market were walk-behind models, requiring manual pulling to control their direction and cut the grass. However, these mowers had low levels of automation and required manual intervention. With the development of intelligent technology, smart lawnmowers began to emerge and replace walk-behind models. Smart lawnmowers can automatically cut grass without human intervention, thus saving labor costs. Sensors are a crucial component of smart lawnmowers, enabling them to detect and automatically cut grass.

[0006] To further improve the intelligence of lawnmowers, current lawnmowers mostly use multiple sensors for detection, including multiple sensors for navigation, obstacle avoidance, and weather detection. Multiple sensors lead to a more complex structure and increased cost for intelligent lawnmowers.

[0007] Therefore, in order to address the aforementioned technical problems, it is necessary to provide an intelligent lawnmower. Utility Model Content

[0008] In view of this, the purpose of this utility model is to provide an intelligent lawnmower.

[0009] To achieve the above objectives, the technical solution provided by an embodiment of this utility model is as follows:

[0010] The application discloses an intelligent mower, which comprises a support, an integrated sensing device arranged on the support, and at least two of a navigation unit for navigation of the intelligent mower, an obstacle avoidance unit for obstacle avoidance of the intelligent mower, and a weather detection unit for weather detection of the intelligent mower. Alternatively, the integrated sensing device comprises an integrated sensing unit for at least two of the navigation, the obstacle avoidance and the weather detection of the intelligent mower. The arrangement can simplify the hardware structure, overcome the problem of complex control system caused by multiple external sensors in the prior art, save the cost, and improve the experience of the product.

[0011] Further, the intelligent mower further comprises a mounting plate arranged on the support, and the integrated sensing device is arranged on the mounting plate. The mounting plate provides a mounting position for mounting and fixing of the integrated sensing device, and is beneficial to improving the stability of mounting of the integrated sensing device.

[0012] Further, the mounting plate is provided with a sensing device mounting portion, the integrated sensing device is arranged on the sensing device mounting portion, and the rear end of the sensing device mounting portion is higher than the front end of the sensing device mounting portion in the advancing direction of the intelligent mower, so that the rear end of the integrated sensing device is higher than the front end of the integrated sensing device in the advancing direction of the intelligent mower. The sensing device mounting portion is arranged to be inclined relative to the horizontal plane in the advancing direction of the intelligent mower, and the laser radar arranged on the sensing device mounting portion is also in an inclined state, so as to facilitate detection of the environment and real-time detection and mapping of the terrain, thereby avoiding obstacles and accurately working.

[0013] Further, the angle between the sensing device mounting portion and the horizontal plane is 10-60°. When the angle between the mounting portion of the laser radar and the horizontal plane is too small, the distance between the detection range of the laser radar and the edge of the machine body is large, and the blind area formed is also large. When the angle between the mounting portion of the laser radar and the horizontal plane is too large, the laser radar cannot detect the rear side of the mower, which is not conducive to obstacle avoidance.

[0014] Further, the angle between the sensing device mounting portion and the horizontal plane is 15-30°. The distance between the detection area of the laser emitting portion and the edge of the machine can be controlled to be less than or equal to 0.2 m. In the application, the angle between the mounting portion and the horizontal plane is 15-30°, which effectively reduces the influence of the machine shell on the detection area of the radar body, the detection range of the radar body is larger, the blind area of the edge of the machine body is greatly reduced, and the detection efficiency of the intelligent mower is improved, which is beneficial to improving the navigation and obstacle avoidance precision of the intelligent mower.

[0015] Further, the intelligent mower further comprises a first sensor device heat dissipation member, the first sensor device heat dissipation member is connected with the mounting plate, the first sensor device heat dissipation member is arranged on the side of the integrated sensor device, and the first sensor device heat dissipation member is used for dissipating heat of the integrated sensor device. The heat generated by the integrated sensor device is transmitted to the first sensor device heat dissipation member through the mounting plate, and the first sensor device is used for dissipating the heat of the integrated sensor device.

[0016] Further, the first sensor device heat dissipation member comprises a plurality of first heat dissipation fins, and the plurality of first heat dissipation fins are arranged at intervals. The plurality of first heat dissipation fins arranged at intervals form heat dissipation gaps therebetween, so as to increase the contact area with air and improve the heat dissipation effect.

[0017] Further, the first sensor device heat dissipation member and the mounting plate are integrally arranged. The integrally arranged first sensor device heat dissipation member and the mounting plate are conducive to direct heat transmission, thereby improving the heat conduction effect; at the same time, the integrally arranged first sensor device heat dissipation member and the mounting plate are convenient for production and processing, thereby improving the assembly efficiency; and the overall strength of the first sensor device heat dissipation member and the mounting plate is strengthened, thereby improving the durability.

[0018] Further, the mounting plate is also used for heat conduction, and the intelligent mower further comprises a sensor device heat conduction member, the sensor device heat conduction member is arranged between the integrated sensor device and the mounting plate, and the sensor device heat conduction member is used for conducting heat of the integrated sensor device to the mounting plate, and then conducting the heat of the mounting plate to the first sensor device heat dissipation member. The sensor device heat conduction member abuts against the integrated sensor device and the mounting plate respectively, so as to conduct the heat generated by the integrated sensor device to the mounting plate, conduct the heat of the mounting plate to the first heat dissipation device, and dissipate heat through the plurality of first heat dissipation fins of the first heat dissipation device.

[0019] Further, the laser radar further comprises a second sensor device heat dissipation member, the second sensor device heat dissipation member is arranged on the side of the radar body, and the second sensor device heat dissipation member is used for dissipating heat of the radar body. The second heat dissipation device adopts air cooling means to cool the integrated sensor device, and the second heat dissipation device can be a fan, which provides a heat dissipation air source for heat dissipation of the integrated sensor device.

[0020] Further, the second sensor device heat dissipation member comprises a plurality of second heat dissipation fins, and the plurality of second heat dissipation fins are arranged at intervals. Through the design of the second heat dissipation fins, the heat of the integrated sensor device can be dissipated.

[0021] Further, the intelligent mower further comprises a machine shell, and the supporting member is the machine shell. The laser radar is installed on the machine shell, so as to improve the stability of the laser radar installation.

[0022] Further, the integrated sensing device is arranged at the front end region of the top of the housing at an angle to the horizontal plane. The integrated sensing device is arranged on the housing at an angle to the horizontal plane, so that the front end blind area of the intelligent mower can be minimized. It should be noted that the integrated sensing device is arranged at the front end region of the top of the housing to monitor the environment in the area in front of the intelligent mower.

[0023] Further, the number of integrated sensing devices is only one, and the integrated sensing device is arranged at the front end region of the intelligent mower in the advancing direction. In this way, the hardware structure is simplified, and the problem of complex control system caused by multiple external sensors in the prior art is overcome. The application only uses one integrated sensing device to save cost and improve product experience.

[0024] Further, the center of the integrated sensing device is located on the centerline of the intelligent mower in the width direction, so that the integrated sensing device is arranged on the centerline of the housing in the width direction, which is beneficial to accurately detecting the left and right ends of the front of the machine, and facilitates the obstacle avoidance process in the mower.

[0025] Further, the integrated sensing device is a laser radar, and the horizontal field of view angle of the laser radar is greater than or equal to 180°, and the vertical field of view angle of the laser radar is greater than or equal to 30°. The greater the vertical field of view angle, the greater the range that can be detected by the laser radar, and the smaller the distance between the area that can be detected by the laser radar and the edge of the machine, and the smaller the blind area. When using a laser radar with a vertical field of view angle greater than or equal to 30° and determining the installation position on the mower according to the above parameters, the detection range can be improved while reducing the distance between the detection range of the laser radar and the edge thereof, thereby achieving the technical effect of reducing the blind area.

[0026] Further, the integrated sensing device is a laser radar, and the horizontal field of view angle of the laser radar is 360°, and the vertical field of view angle of the laser radar is greater than or equal to 30°. By setting the horizontal field of view angle to 360°, the horizontal angle detection is realized in all directions, which is beneficial to strengthen the detection range.

[0027] Further, the number of integrated sensing devices is two. By arranging two integrated sensing devices with navigation, obstacle avoidance and weather detection functions, the detection range and detection accuracy can be improved.

[0028] Further, at least one of the two integrated sensing devices is arranged at the front end region of the intelligent mower in the advancing direction. Arranging at least one integrated sensing device at the front end region is beneficial to the detection of the advancing direction of the intelligent mower.

[0029] Further, the integrated sensing device is a laser radar, and the horizontal field of view angle of the laser radar is greater than or equal to 80°, and the vertical field of view angle of the laser radar is greater than or equal to 30°. The greater the vertical field of view angle, the greater the range that can be detected by the laser radar, and the smaller the distance between the area that can be detected by the laser radar and the edge of the machine, and the smaller the blind area. When the laser radar with the vertical field of view angle greater than or equal to 30° is used, and the installation position on the mower is determined according to the above parameters, the detection range can be improved while reducing the distance between the detection range of the laser radar and the edge of the machine, thereby achieving the technical effect of reducing the blind area.

[0030] Further, the integrated sensing device is a laser radar, and the horizontal field of view angle of the laser radar is greater than or equal to 110°, and the vertical field of view angle of the laser radar is greater than or equal to 30°. The horizontal field of view angle greater than or equal to 110° is set to increase the range of the horizontal field of view angle.

[0031] Further, the horizontal field of view angle of the two laser radars is greater than the horizontal field of view angle of a single laser radar. The detection range is improved by the two laser radars to improve the detection accuracy of the intelligent mower.

[0032] Further, the number of integrated sensing devices is three. The three integrated sensing devices with the functions of navigation, obstacle avoidance and weather detection are set to increase the detection range and the detection accuracy.

[0033] Further, at least one of the three integrated sensing devices is arranged at the front end region of the intelligent mower in the advancing direction. The at least one integrated sensing device arranged at the front end region facilitates the detection of the advancing direction by the intelligent mower.

[0034] Further, the integrated sensing device is a laser radar, and the horizontal field of view angle of the laser radar is greater than or equal to 80°, and the vertical field of view angle of the laser radar is greater than or equal to 30°. The greater the vertical field of view angle, the greater the range that can be detected by the laser radar, and the smaller the distance between the area that can be detected by the laser radar and the edge of the machine, and the smaller the blind area. When the laser radar with the vertical field of view angle greater than or equal to 30° is used, and the installation position on the mower is determined according to the above parameters, the detection range can be improved while reducing the distance between the detection range of the laser radar and the edge of the machine, thereby achieving the technical effect of reducing the blind area.

[0035] Further, the integrated sensing device is a laser radar, and the horizontal field of view angle of the laser radar is greater than or equal to 110°, and the vertical field of view angle of the laser radar is greater than or equal to 30°. The horizontal field of view angle greater than or equal to 110° is set to increase the range of the horizontal field of view angle.

[0036] Further, the horizontal field of view angle of the three laser radars is greater than the horizontal field of view angle of a single laser radar. The detection range is improved by the three laser radars to improve the detection accuracy of the intelligent mower.

[0037] The utility model provides an intelligent mower, intelligent mower includes support, laser radar sets up on the support, first heat abstractor is connected with laser radar, and first heat abstractor is used for heat dissipation to laser radar, the intelligent mower of the utility model includes the first heat abstractor for cooling laser radar, realizes the heat dissipation to laser radar, avoids the heat that laser radar produces when working can influence the detection accuracy of laser radar.

[0038] Further, the intelligent mower further comprises a mounting plate arranged on the support, the mounting plate is connected with the first heat abstractor, and the laser radar is mounted on the mounting plate. The mounting plate provides a mounting surface for the laser radar to realize the effect of positioning and mounting the laser radar.

[0039] Further, the first heat abstractor comprises a first sensor heat dissipation member, the first sensor heat dissipation member is connected with the mounting plate, and the mounting plate is further used for heat conduction to conduct the heat of the laser radar to the first sensor heat dissipation member, and then the first sensor heat dissipation member is used for heat dissipation to the laser radar. The heat generated by the laser radar is transmitted to the first sensor heat dissipation member through the mounting plate, and the first sensor is used for dissipating the heat of the laser radar.

[0040] Further, the first sensor heat dissipation member and the mounting plate are integrally arranged. The integrally arranged first sensor heat dissipation member and the mounting plate are beneficial to direct heat transmission, thereby improving the heat conduction effect; at the same time, the integrally arranged first sensor heat dissipation member and the mounting plate are convenient for production and processing, thereby improving the assembly efficiency; at the same time, the overall strength of the first sensor heat dissipation member and the mounting plate is strengthened, thereby improving the durability.

[0041] Further, the first sensor heat dissipation member comprises a plurality of first heat dissipation fins, and the plurality of first heat dissipation fins are arranged at intervals. The plurality of first heat dissipation fins arranged at intervals form a heat dissipation gap therebetween, thereby increasing the contact area with air to improve the heat dissipation effect.

[0042] Further, the first heat abstractor comprises a third sensor heat dissipation member, the third sensor heat dissipation member is mounted on the mounting plate; the third sensor heat dissipation member is connected with the laser radar, and the third sensor heat dissipation member is used for heat dissipation to the laser radar. The third sensor heat dissipation member is connected with the laser radar and the sensor mounting portion, thereby realizing the transmission of the heat generated by the laser radar to the sensor mounting portion, and at the same time, the third sensor heat dissipation member itself also has the functions of heat conduction and heat dissipation, thereby being used for cooling the laser radar.

[0043] Further, the third sensor heat dissipation member comprises at least one of a graphene heat dissipation fin and a heat dissipation copper pipe. The heat dissipation efficiency is improved through the heat conductivity of the graphene heat dissipation fin and the heat dissipation copper pipe.

[0044] Further, the intelligent mower further comprises a sensor device heat conduction piece, the sensor device heat conduction piece is connected with the laser radar and the first heat dissipation device respectively; the sensor device heat conduction piece is used for conducting heat of the laser radar to the first heat dissipation device. The sensor device heat conduction piece is in abutment with the laser radar and the mounting plate respectively, and then heat generated by the laser radar is conducted to the mounting plate, and heat of the mounting plate is conducted to the first heat dissipation device, and heat dissipation is performed through the plurality of first heat dissipation fins of the first heat dissipation device.

[0045] Further, the intelligent mower further comprises a cover plate, the cover plate is arranged on the support, a sensor device containing space is formed between the cover plate and the support, and the laser radar is at least partially contained in the sensor device containing space; the cover plate is provided with a through hole, and the laser radar is at least partially outwardly extended from the through hole. Part of the laser radar is contained in the sensor device containing space, and the other part is extended from the through hole, and the extended part emits laser to the environment to realize environmental sensing detection.

[0046] Further, the intelligent mower further comprises a ring-shaped sleeve, the ring-shaped sleeve is connected with the cover plate at the through hole; the ring-shaped sleeve is provided with a sensor device outlet matched with the laser radar, and the laser radar is at least partially outwardly extended from the sensor device outlet. The ring-shaped sleeve can also play a role of protection and decoration while dissipating heat of the laser radar.

[0047] Further, the intelligent mower further comprises a ring-shaped sleeve, the ring-shaped sleeve is provided with a sensor device outlet matched with the laser radar, and the laser radar is at least partially outwardly extended from the sensor device outlet.

[0048] Further, the first heat dissipation device is at least partially contained in the sensor device containing space, the ring-shaped sleeve is provided with at least one first heat dissipation opening, and the first heat dissipation opening can communicate the sensor device containing space and an external space, so that heat of the laser radar is discharged. The first heat dissipation opening is used for discharging hot air to realize the effect of heat dissipation. When the mower moves, the surrounding air flows, and the first heat dissipation opening is arranged to accelerate heat dissipation when the mower moves.

[0049] Further, the first heat dissipation opening is at least one of a notch structure and a heat dissipation hole, so that the structure of the first heat dissipation opening can be adjusted according to the overall arrangement of the intelligent mower, so as to maximize the heat dissipation efficiency.

[0050] Further, the first heat dissipation device is at least partially contained in the sensor device containing space, the cover plate and the support are provided with at least one second heat dissipation opening, and the second heat dissipation opening can communicate the sensor device containing space and an external space, so that heat of the laser radar is discharged. Air flow can flow into the second heat dissipation opening formed between the cover plate and the support to improve the heat dissipation efficiency.

[0051] Further, the first heat dissipation device is at least partially accommodated in the sensor device accommodating space, and the support is provided with at least one third heat dissipation opening, which can communicate the sensor device accommodating space with the external space, so that the heat of the laser radar is discharged.

[0052] Further, the first heat dissipation device at least partially extends from the third heat dissipation opening to the external space, and the third heat dissipation opening provides a avoiding position for the installation of the first heat dissipation device.

[0053] Further, the intelligent mower further comprises a second heat dissipation device, which is arranged beside the laser radar. The second heat dissipation device is used for actively dissipating heat towards the laser radar beside, which is beneficial to improve the heat dissipation efficiency of the laser radar.

[0054] Further, the second heat dissipation device is used for air cooling heat dissipation of the laser radar. The second heat dissipation device adopts the air cooling heat dissipation means to cool the laser radar, and the second heat dissipation device can be a fan, which provides a heat dissipation air source for heat dissipation of the laser radar.

[0055] Further, the laser radar comprises a radar body and a second sensor device heat dissipation piece, and the radar body and the second sensor device heat dissipation piece are fixedly connected, and the second sensor device heat dissipation piece is used for heat dissipation of the radar body. The second sensor device heat dissipation piece is arranged on the side of the laser radar, and the second sensor device heat dissipation piece is directly connected with the radar body and is used for heat dissipation of the laser radar.

[0056] Further, the second sensor device heat dissipation piece comprises a plurality of second heat dissipation fins, and the plurality of second heat dissipation fins are arranged at intervals. Through the design of the second heat dissipation fins, the heat generated by the laser radar can be dissipated.

[0057] Further, the intelligent mower further comprises a machine shell, and the support is the machine shell. The laser radar is installed on the machine shell, which is beneficial to improve the stability of the installation of the laser radar.

[0058] Further, the number of the laser radars integrated with the navigation and obstacle avoidance functions of the intelligent mower is only one. The machine shell of the intelligent mower of the utility model is provided with only one laser radar, the functions of navigation and obstacle avoidance are realized by arranging one laser radar, the hardware structure is simplified, meanwhile, the problem that the control system is complex due to the adoption of a plurality of external sensors in the prior art is overcome, the cost is saved by adopting only one laser radar in the present application, and the experience of the product is improved.

[0059] Further, the center of the environment detection sensor device is located on the center line in the width direction of the machine shell. The laser radar is arranged on the center line in the width direction of the machine shell, which is beneficial to accurately detect the left and right ends of the front part of the machine, and meanwhile, the obstacle avoidance processing in the mower is facilitated.

[0060] Further, the environmental detection sensor device is arranged at the front end region of the top of the housing. The laser radar is arranged on the housing to be inclined relative to the horizontal plane, so that the front end blind area of the intelligent mower can be reduced to the greatest extent. It should be noted that the laser radar is arranged at the front end region of the top of the housing to monitor the environment of the area in the forward direction of the intelligent mower.

[0061] Further, the mounting plate has a sensor device mounting portion, and the laser radar is mounted on the sensor device mounting portion. In the forward direction of the intelligent mower, the rear end of the sensor device mounting portion is higher than the front end of the sensor device mounting portion, so that in the forward direction of the intelligent mower, the rear end of the laser radar is higher than the front end of the laser radar. The sensor device mounting portion is arranged to be inclined relative to the horizontal plane in the forward direction of the intelligent mower, and the laser radar is arranged to be inclined when mounted on the sensor device mounting portion, so as to facilitate detection of the environment and real-time detection and mapping of the terrain, thereby avoiding obstacles and accurately working.

[0062] Further, the horizontal field of view of the laser radar is 360°, and the vertical field of view is greater than or equal to 30°. The greater the vertical field of view, the greater the range that can be detected by the laser radar, and the smaller the distance between the range that can be detected by the laser radar and the edge of the machine, and the smaller the blind area. When the laser radar with a vertical field of view greater than or equal to 30° is used and the mounting position on the mower is determined according to the above parameters, the detection range can be improved while the distance between the detection range of the laser radar and the edge thereof is reduced, thereby achieving the technical effect of reducing the blind area.

[0063] Further, the first plane on which the first sensor device heat dissipation member is arranged and the second plane on which the second sensor device heat dissipation member is arranged are arranged at an angle greater than 90° and less than or equal to 180°. The first plane and the second plane are arranged at an obtuse angle, so that a predetermined distance is formed between the first sensor device heat dissipation member and the second sensor device heat dissipation member, thereby facilitating the heat dissipation efficiency of the first sensor device heat dissipation member and the second sensor device heat dissipation member. The first plane and the second plane are arranged at an obtuse angle to form an avoiding space, thereby facilitating the installation of the laser radar.

[0064] The mower has the following beneficial effects:

[0065] The mower has the following beneficial effects:

[0066] The mower of the utility model can detect the terrain in real time and build a map through the integrated sensing device, thereby avoiding obstacles and performing accurate work, so that the operation of the mower is more stable and safe, and the field angle of the integrated sensing device can see the nearest point of the front end, the left end and the right end of the machine, further improving the safety of the operation of the mower. BRIEF DESCRIPTION OF DRAWINGS

[0067] In order to more clearly illustrate the technical scheme in the embodiments of the utility model or the prior art, the drawings needed to be used in the embodiment or the prior art description will be briefly introduced below, and obviously, the drawings in the following description are only some embodiments in the utility model, and for those skilled in the art, other drawings can also be obtained according to these drawings without creative labor.

[0068] Figure 1 It is a side view structural schematic diagram of the intelligent mower without the cover plate in an embodiment of the utility model;

[0069] Figure 2 It is a top view structural schematic diagram of the intelligent mower without the cover plate in an embodiment of the utility model;

[0070] Figure 3 It is a three-dimensional structural schematic diagram of the intelligent mower without the cover plate in an embodiment of the utility model;

[0071] Fig. 4 is a three-dimensional structural schematic diagram of the mounting plate in an embodiment of the utility model;

[0072] Fig. 5 is a three-dimensional structural schematic diagram of the mounting structure of the sensing device damping part and the sensing device heat conduction part in an embodiment of the utility model;

[0073] Fig. 6 is an explosion view of the mounting structure of the radar body, the sensing device damping part, the sensing device heat conduction part and the mounting plate in an embodiment of the utility model;

[0074] Figure 7 It is a three-dimensional structural schematic diagram of the annular sleeve in an embodiment of the utility model;

[0075] Figure 8 It is a top view of the intelligent mower with the cover plate in an embodiment of the utility model;

[0076] Figure 9 It is a front view of the intelligent mower with the cover plate in an embodiment of the utility model;

[0077] Figure 10 It is a three-dimensional structural schematic diagram of the intelligent mower in an embodiment of the utility model;

[0078] Figure 11 It is the bottom structure schematic view of the intelligent mower in an embodiment of the utility model;

[0079] Figure 12 It is the installation structure schematic view of the first heat dissipation device and the laser radar in an embodiment of the utility model;

[0080] Figure 13 It is the structure schematic view of the third heat dissipation port in an embodiment of the utility model;

[0081] Figure 14 It is the overhead structure schematic view of the second heat dissipation device in an embodiment of the utility model;

[0082] Figure 15 It is the overhead structure schematic view of the third sensing device heat dissipation piece installation in the side close to the second heat dissipation device in an embodiment of the utility model;

[0083] Figure 16 It is the overhead structure schematic view of the third sensing device heat dissipation piece installation in the side away from the second heat dissipation device in an embodiment of the utility model;

[0084] Fig. 17 is the overhead structure schematic view of the third sensing device heat dissipation piece installation in the side close to and away from the second heat dissipation device in an embodiment of the utility model;

[0085] Fig. 18 is the overhead structure schematic view of the third sensing device heat dissipation piece installation in the side close to and away from the second heat dissipation device in an embodiment of the utility model;

[0086] Figure 19 It is the three-dimensional structure schematic view of the mounting plate and the shell connection in an embodiment of the utility model;

[0087] Figure 20 It is the setting structure schematic view of the integrated sensing device setting with two in embodiment 2 of the utility model, wherein integrated sensing device one is set in the front end area, and one is set in the rear end area;

[0088] Figure 21 It is the field of view angle schematic view of two integrated sensing devices in Figure 20

[0089] Figure 22 It is the setting structure schematic view of the integrated sensing device setting with two in embodiment 2 of the utility model, wherein integrated sensing device one is set in the front end area, and one is set in the left side area;

[0090] Figure 23 It is the field of view angle schematic view of two integrated sensing devices in Figure 22

[0091] ​​Figure 24 The setting structure schematic diagram of two integrated sensing devices in the embodiment 2 of the utility model is provided with two integrated sensing devices, and the integrated sensing devices are arranged in the front end region;

[0092] Figure 25 The setting structure schematic diagram of three integrated sensing devices in the embodiment 3 of the utility model is provided with three integrated sensing devices; Figure 24 The field of view angle schematic diagram of two integrated sensing devices in the embodiment 2 of the utility model is provided with two integrated sensing devices;

[0093] Figure 26 The setting structure schematic diagram of three integrated sensing devices in the embodiment 3 of the utility model is provided with three integrated sensing devices;

[0094] Figure 27 The field of view angle schematic diagram of three integrated sensing devices in the embodiment 3 of the utility model is provided with three integrated sensing devices. Figure 26

[0095] Among them, the above-mentioned drawing includes the following drawing marks:

[0096] 1, the shell; 101, the third heat dissipation port; 11, the mounting plate; 111, the sensing device mounting part; 2, the integrated sensing device; 21, the radar body; 22, the second sensing device heat dissipation piece; 221, the second heat dissipation fin; 3, the first heat dissipation device; 31, the first sensing device heat dissipation piece; 311, the first heat dissipation fin; 32, the third sensing device heat dissipation piece; 321, the graphene heat dissipation fin; 322, the heat dissipation copper pipe; 4, the cover plate; 41, the through hole; 42, the second heat dissipation port; 5, the annular sleeve; 51, the sensing device outlet; 52, the first heat dissipation port; 6, the sensing device heat conduction piece; 7, the sensing device damping piece; 71, the mounting hole; 9, the auxiliary heat dissipation plate; 10, the second heat dissipation device. DETAILED DESCRIPTION

[0097] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be described clearly and completely below in combination with the drawings in the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, rather than all the embodiments. The components of the embodiments of the utility model described and shown in the drawings can be arranged and designed in various different configurations.

[0098] Therefore, the following detailed description of the embodiments of the utility model provided in the drawings is not intended to limit the scope of the claimed utility model, but only represents selected embodiments of the utility model. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor belong to the scope of protection of the utility model.

[0099] ​It should be noted that like reference numerals and characters refer to like items throughout the attached drawings and alternative embodiments (wherever possible) should be considered equivalents in terms of aspects unless otherwise indicated.

[0100] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0101] The technical solutions in the present application will be described below with reference to the drawings.

[0102] Embodiment 1

[0103] Please refer to Figures 1-27 Embodiment 1 provides an intelligent mower, comprising a support and an integrated sensing device 2, the integrated sensing device 2 is arranged on the support, and the integrated sensing device 2 comprises at least two of a navigation unit for navigation of the intelligent mower, an obstacle avoidance unit for obstacle avoidance of the intelligent mower, and a weather detection unit for weather detection of the intelligent mower.

[0104] The integrated sensing device 2 is used for at least two of navigation, obstacle avoidance and weather detection of the intelligent mower.

[0105] In some embodiments, the integrated sensing device 2 comprises the navigation unit for navigation of the intelligent mower and the obstacle avoidance unit for obstacle avoidance of the intelligent mower. The intelligent mower has the navigation function and the obstacle avoidance function.

[0106] In some embodiments, the integrated sensing device 2 comprises the navigation unit for navigation of the intelligent mower and the weather detection unit for weather detection of the intelligent mower. The intelligent mower has the navigation function and the weather detection function.

[0107] In some embodiments, the integrated sensing device 2 comprises the obstacle avoidance unit for obstacle avoidance of the intelligent mower and the weather detection unit for weather detection of the intelligent mower. The intelligent mower has the weather detection function and the obstacle avoidance function.

[0108] In some embodiments, the integrated sensing device 2 comprises the navigation unit for navigation of the intelligent mower, the obstacle avoidance unit for obstacle avoidance of the intelligent mower, and the weather detection unit for weather detection of the intelligent mower. The intelligent mower has the navigation function, the weather detection function and the obstacle avoidance function.

[0109] In more embodiments, the navigation unit also has a positioning function, the navigation unit is used for positioning, or the navigation unit is used for navigation and positioning.

[0110] Specifically, the navigation unit is integrated on the integrated sensing device 2 and is used for navigation of the intelligent mower or navigation and positioning of the intelligent mower.

[0111] Specifically, the obstacle avoidance unit is integrated on the integrated sensing device 2 for obstacle avoidance of the intelligent mower.

[0112] Specifically, the weather detection unit is integrated on the integrated sensing device 2 for weather detection.

[0113] When the integrated sensing device 2 includes at least two of the navigation unit, the obstacle avoidance unit and the weather detection unit, the intelligent mower of the present application has the corresponding functions, that is, the integrated sensing device 2 integrates the corresponding functions, improves the functional integration of the integrated sensing device 2, simplifies the hardware structure, and also overcomes the problem of complex control system caused by using multiple external sensors in the prior art. The present application only uses one integrated sensing device 2 to save costs and improve the experience of the product.

[0114] In other embodiments, the integrated sensing device 2 includes the navigation unit, the obstacle avoidance unit and the weather detection unit.

[0115] The navigation unit is integrated on the integrated sensing device 2 for navigation of the intelligent mower.

[0116] The obstacle avoidance unit is integrated on the integrated sensing device 2 for obstacle avoidance of the intelligent mower.

[0117] The weather detection unit is integrated on the integrated sensing device 2 for weather detection.

[0118] When the integrated sensing device 2 includes at least two of the navigation unit, the obstacle avoidance unit and the weather detection unit, the intelligent mower of the present application has the corresponding functions, that is, the integrated sensing device integrates the corresponding functions, improves the functional integration of the integrated sensing device 2, simplifies the hardware structure, and also overcomes the problem of complex control system caused by using multiple external sensors in the prior art. The present application only uses one integrated sensing device 2 to save costs and improve the experience of the product.

[0119] Further, the weather detection unit includes at least one of a rain detection sub-unit, a hail detection sub-unit, a snow detection sub-unit, a sandstorm detection sub-unit and a fog detection sub-unit. The weather detection includes at least one of rain detection, hail detection, snow detection, sandstorm detection and fog detection.

[0120] Specifically, the rain detection sub-unit is integrated on the integrated sensing device 2 for detecting whether it is raining; the hail detection sub-unit is integrated on the integrated sensing device 2 for detecting whether it is hailing; the snow detection sub-unit is integrated on the integrated sensing device 2 for detecting whether it is snowing; the sandstorm detection sub-unit is integrated on the integrated sensing device 2 for detecting whether there is a sandstorm; and the fog detection sub-unit is integrated on the integrated sensing device 2 for detecting whether it is foggy.

[0121] AsFigures 1 to 5 As shown, the intelligent lawnmower also includes a mounting plate 11 set on the support member, and the mounting plate 11 has a sensor mounting part 111, on which an integrated sensor 2 is mounted.

[0122] In this configuration, along the direction of travel of the smart lawnmower, the rear end of the sensor mounting section 111 is higher than the front end of the sensor mounting section 111, so that along the direction of travel of the smart lawnmower, the rear end of the integrated sensor 2 is higher than the front end of the integrated sensor 2, thereby forming a sensor mounting section 111 that is inclined relative to the horizontal plane along the direction of travel of the smart lawnmower, and thus ensuring that the integrated sensor 2 is also in an inclined state when it is mounted on the sensor mounting section 111.

[0123] It should be noted that the direction of travel of a smart lawnmower can be along its length, i.e. Figure 1 in the Y direction.

[0124] Specifically, the lawnmower also includes a housing 1, with the housing 1 serving as the support component. The integrated sensing device 2 is fixedly connected to the housing 1 of the smart lawnmower via a mounting plate 11, which helps to enhance the stability of the installation of the integrated sensing device.

[0125] Furthermore, such as Figure 1 As shown, in this embodiment, the tilt angle between the sensor mounting portion 111 and the horizontal plane is α, and the range of α is 10°-60°. Preferably, the tilt angle α between the sensor mounting portion 111 and the horizontal plane is 20°.

[0126] Furthermore, the tilt angle α between the sensor mounting portion 111 and the horizontal plane can be 15°, or it can be within the range of 18°, or it can be within the range of 28°. The range of the tilt angle α between the sensor mounting portion 111 and the horizontal plane is not limited to the listed values; other unlisted values ​​within the range are also applicable.

[0127] It should be noted that the mounting plate 11 may be a convex slope, a concave slope, an irregular slope, or an inclined plane, etc. Since the integrated sensor 2 is fixedly installed on the mounting plate 11, and the integrated sensor 2 is also inclined, when the range of the tilt angle α between the sensor mounting part 111 and the horizontal plane is too small, the distance between the detection range of the integrated sensor 2 and the edge of the machine body is large, and the resulting blind spot in front is also large; when the range of the tilt angle α between the sensor mounting part 111 and the horizontal plane is too large, the integrated sensor 2 cannot detect the high places in front of the lawnmower, which is not conducive to obstacle avoidance.

[0128] Further, when the remaining parameters are determined, the inclination angle a between the sensor device mounting portion 111 and the horizontal plane in the embodiment is 20°, which can facilitate controlling the distance between the detection area of the radar body 21 and the edge of the machine to be less than or equal to 0.2 m. When the inclination angle a between the sensor device mounting portion 111 and the horizontal plane in the embodiment is 20°, the influence of the machine shell 1 on the detection area of the radar body 21 is effectively reduced, the detection range of the radar body 21 is larger, the blind area of the edge of the machine body is greatly reduced, and the detection efficiency of the intelligent mower is improved, which is conducive to improving the accuracy of navigation and obstacle avoidance of the intelligent mower.

[0129] In the embodiment, the front end region of the top of the machine shell 1 has a groove structure, and the groove structure has a support surface extending downwardly and obliquely toward the front side of the machine shell 1, and the support surface is connected with the mounting plate 11.

[0130] As shown in Figures 1 to 5 , the intelligent mower further comprises a first sensor device heat sink 31, the first sensor device heat sink 31 is connected with the mounting plate 11, and the first sensor device heat sink 31 is arranged on the side of the integrated sensor device 2. The first sensor device heat sink 31 is used for heat dissipation of the integrated sensor device 2.

[0131] Specifically, the heat generated by the integrated sensor device 2 is transferred through the mounting plate and the first sensor device heat sink 31 to achieve the effect of assisting the heat dissipation of the integrated sensor device 2.

[0132] Further, the first sensor device heat sink 31 comprises a plurality of first heat dissipation fins 311, and the plurality of first heat dissipation fins 311 are arranged at intervals, wherein a heat dissipation gap is formed between the plurality of first heat dissipation fins 311 arranged at intervals, thereby increasing the contact area with air to improve the heat dissipation effect.

[0133] In the embodiment, the first sensor device heat sink 31 and the mounting plate 11 are integrally arranged, which is conducive to heat transfer and also strengthens the overall strength of the first sensor device heat sink 31 and the mounting plate, thereby improving the durability.

[0134] For example, the first sensor device heat sink 31 and the mounting plate 11 can be an integral aluminum casting, which can improve the heat dissipation effect and simplify the overall structure and assembly.

[0135] As shown in Figures 1 to 9 , the mounting plate 11 is also used for heat conduction, and the intelligent mower further comprises a sensor device heat conduction member 6, which is arranged between the integrated sensor device 2 and the mounting plate 11. The sensor device heat conduction member 6 is used for conducting the heat of the integrated sensor device 2 to the mounting plate 11, and then conducting the heat from the mounting plate 11 to the first sensor device heat sink 31.

[0136] Further, the intelligent mower further comprises a sensing device damping member 7, which is arranged between the integrated sensing device 2 and the mounting plate 11, so that the sensing device damping member 7 can damp the integrated sensing device 2, thereby reducing the vibration and noise of the intelligent mower.

[0137] Further, the sensing device damping member 7 is provided with a mounting hole 71 matched with the sensing device heat conduction member 6, the mounting hole 71 is arranged through the sensing device damping member 7, and the sensing device heat conduction member 6 is arranged in the mounting hole 71, so that the structural compactness can be improved. The sensing device heat conduction member 6 is a heat-conducting silica gel column or a heat-conducting silica gel pad.

[0138] Specifically, the sensing device damping member 7 is elastically connected between the sensing device damping member 7 and the mounting plate 11; the sensing device damping member 7 is used to buffer the vibration force of the integrated sensing device 2 to achieve the function of reducing noise, and has the functions of protecting the integrated sensing device 2 and reducing noise, effectively improving the stability of the installation of the integrated sensing device 2.

[0139] The front end area of the top of the casing 1 provides a groove structure for mounting the integrated sensing device 2, and the groove structure provides a support surface matched with the mounting plate 11 to position the integrated sensing device 2 by positioning the mounting plate 11.

[0140] Further, the inside of the groove structure has a first mounting portion, and the casing 1 has a second mounting portion, in one specific embodiment of the present embodiment, the mounting plate 11 is clamped with the first mounting portion and the second mounting portion to be positioned and installed by clamping, and specifically the first mounting portion and the second mounting portion can be one of a buckle and a clamping groove, and the other of the buckle and the clamping groove is arranged on the mounting plate 11 in a position.

[0141] In another specific embodiment of the present embodiment, the intelligent mower further comprises a fastener, and the mounting plate 11 is connected with the second mounting portion and the second mounting portion by the fastener, and the mounting plate 11 is fixed by the fastener such as a screw.

[0142] In the present embodiment, the first mounting portion is arranged on the groove bottom surface, the mounting plate 11 has a first plate segment, an inclined plate segment and a second plate segment connected in sequence, the first plate segment is abutted with the groove bottom surface and connected with the first mounting portion, the inclined plate segment is abutted with the support surface, and the second plate segment is abutted with the casing 1 and connected with the second mounting portion.

[0143] The mounting plate 11 with a three-segment structure is respectively abutted and fixed with the groove bottom surface, the support surface and the top surface of the casing 1, further improving the stability of the installation of the mounting plate 11.

[0144] It should be noted that the top of the shell 1 of the embodiment has a front end region and a rear end region, wherein the front end region and the rear end region are oppositely arranged along the advancing direction of the intelligent mower, and the front end region is the region on one side of the advancing direction when the intelligent mower is in the working state.

[0145] In the embodiment, the intelligent mower further comprises a cover plate 4, the cover plate 4 is arranged on the support, a sensor device accommodating space is formed between the cover plate 4 and the support, the integrated sensor device 2 is at least partially accommodated in the sensor device accommodating space, the cover plate 4 has a through port 41, and the integrated sensor device 2 is exposed through the through port 41.

[0146] The intelligent mower further comprises a ring-shaped sleeve 5, the ring-shaped sleeve 5 is fixedly connected with the cover plate 4 at the through port 41, the ring-shaped sleeve 5 is provided with a sensor device outlet 51 matched with the integrated sensor device 2, and the integrated sensor device 2 at least partially extends outward from the sensor device outlet 51.

[0147] Further, the ring-shaped sleeve 5 is arranged at the through port 41 and abuts against the outer circumferential surface of the integrated sensor device 2, the ring-shaped sleeve 5 has at least one first heat dissipation port 52, the first heat dissipation port 52 can communicate the sensor device accommodating space and an external space, so that the heat of the integrated sensor device 2 is dissipated. The first heat dissipation port 52 is arranged along the circumference of the ring-shaped sleeve 5 to form an arc-shaped heat dissipation port structure, and the ring-shaped sleeve 5 plays a role of protection and decoration.

[0148] Further, a heat dissipation gap can be further formed between the cover plate 4 and the support in advance, so that the heat of the integrated sensor device 2 is taken away by airflow when passing through, so as to dissipate heat.

[0149] In the embodiment, the cover plate 4 and the support have at least one second heat dissipation port 42, the second heat dissipation port 42 can communicate the sensor device accommodating space and an external space, so that the heat of the integrated sensor device 2 is dissipated.

[0150] Further, the support has the second heat dissipation port 42, the second heat dissipation port 42 is a long strip-shaped hole structure to facilitate ventilation and heat dissipation in the working state of the intelligent mower. The second heat dissipation port 42 can be arranged on the front side of the support to improve the heat dissipation effect.

[0151] In the embodiment, the intelligent mower further comprises a shell 1, and the support is the shell 1. It should be noted that the support can also be a mounting structure arranged on the shell 1, and the integrated sensor device 2 is mounted on the shell 1 through the mounting structure. It should be further explained that the integrated sensor device 2 can be directly mounted on the shell 1, or mounted on the shell 1 through the support having a supporting effect.

[0152] The housing 1 in the embodiment includes oppositely arranged front and rear covers, oppositely arranged first and second side covers, and a top cover connected with the rear cover, the first side cover, and the second side cover. The front cover is connected with the top cover through a mounting plate 11. The front cover, the mounting plate 11, the rear cover, the first side cover, the second side cover, and the top cover enclose a closed cavity. The integrated sensing device 2 is arranged outside the closed cavity.

[0153] In the embodiment, the integrated sensing device 2 is a laser radar. The laser radar emits a laser beam to a target, compares a received signal reflected from the target with a transmitted signal, and obtains relevant information of the target, such as target distance, direction, height, and other parameters, after appropriate processing, so as to detect, track, and identify the target. During the working process of the mower, the terrain in front of the mower needs to be accurately detected to prevent the mower from damaging or endangering the surrounding environment. In the embodiment, a laser radar is arranged in the front of the housing 1 to change the angle of the laser beam emitted by the laser radar, increase the sensing range of the environment in front of the mower, reduce the blind area range, and detect and map the terrain in real time, so as to avoid obstacles and accurately work.

[0154] In the embodiment, the integrated sensing device 2 can be at least partially arranged to protrude from the housing 1. In this way, the integrated sensing device 2 can better perform navigation, obstacle avoidance, and weather detection, such as facilitating the integrated sensing device 2 to detect obstacles in front of and around the housing 1, and facilitating the integrated sensing device 2 to detect the weather, such as rain detection.

[0155] In some specific embodiments, the integrated sensing device 2 is arranged on the housing 1.

[0156] Of course, in an unillustrated specific embodiment, the integrated sensing device 2 can also be placed in a light-transmitting cover to protect the integrated sensing device 2 through the transparent cover, and the arrangement of the transparent cover does not affect the integrated sensing device 2 to perform obstacle avoidance detection, navigation, and weather detection.

[0157] As shown in FIGS. Figure 1 and Figure 2 The integrated sensing device 2 is arranged at the front end region of the top of the support at an angle to the horizontal plane.

[0158] The support is the housing 1, and the integrated sensing device 2 is arranged at the front end region of the top of the housing 1 at an angle to the horizontal plane.

[0159] Specifically, the integrated sensing device 2 is arranged on the housing 1 at an angle to the horizontal plane, so that the front end blind area of the intelligent mower can be reduced to the greatest extent. It should be noted that the integrated sensing device 2 is arranged at the front end region of the top of the housing 1 to monitor the environment in the area in front of the intelligent mower.

[0160] As Figures 1 to 9 shown, in order to reduce the blind area, the laser radar in the embodiment includes a radar body 21, and a horizontal distance L between a laser emitting part of the radar body 21 and a front end of the intelligent mower along a traveling direction is greater than or equal to 30 mm.

[0161] It should be noted that the closer the laser emitting part of the radar body 21 is to the front end of the intelligent mower along the traveling direction, the larger the machine blind area will be, and therefore the horizontal distance L between the laser emitting part of the radar body 21 and the front end of the intelligent mower along the traveling direction needs to be controlled in a range greater than 30 mm.

[0162] Preferably, the horizontal distance L between the laser emitting part of the radar body 21 and the front end of the intelligent mower along the traveling direction is 35 mm, preferably, the horizontal distance L between the laser emitting part of the radar body 21 and the front end of the intelligent mower along the traveling direction is 38 mm, and preferably, the horizontal distance L between the laser emitting part of the radar body 21 and the front end of the intelligent mower along the traveling direction is 40 mm. The horizontal distance L between the laser emitting part of the radar body 21 and the front end of the intelligent mower along the traveling direction is not limited to the listed values, and other values not listed in the range are also applicable.

[0163] Further, when the remaining parameters are determined, when the horizontal distance L between the radar body 21 and the front end of the intelligent mower along the traveling direction is set to be within a range of 40 mm-180 mm, the distance between the detection area of the radar body 21 and the edge of the machine can be controlled to be within a range less than or equal to 0.2 m. When the horizontal distance L between the radar body 21 and the front end of the intelligent mower along the traveling direction is set to be within a range of 40 mm-180 mm, the influence of the machine shell 1 on the detection area of the radar body 21 is effectively reduced, the detection range of the radar body 21 is larger, the blind area of the edge of the machine body is greatly reduced, and the detection efficiency of the intelligent mower is improved, which is beneficial to improve the navigation and obstacle avoidance accuracy of the intelligent mower.

[0164] As Figure 2 shown, the support in the embodiment is the machine shell 1, and along the width direction of the support, i.e., along the width direction of the machine shell 1, the machine shell 1 has oppositely arranged first and second end sides, the first side cover has the first end side, and the second side cover has the second end side. Since the width of the mower body will affect the detection range of the laser radar, when the distance W between the front end of the first end side and the front end of the second end side along the width direction of the machine shell 1 is less than or equal to 600 mm, it can be prevented that the laser radar arranged on the mounting plate 11 cannot detect the environment and terrain on both sides of the machine body.

[0165] In the embodiment, the integrated sensing device is arranged at the front end region of the top of the machine shell 1 at an angle to the horizontal plane.

[0166] Further, the laser radar further comprises a second sensor device heat dissipation piece 22, the second sensor device heat dissipation piece 22 is arranged on the side of the laser radar, and the second sensor device heat dissipation piece 22 is used for dissipating heat of the laser radar.

[0167] In the embodiment, the second sensor device heat dissipation piece 22 is used as a heat dissipation piece of the laser radar itself, and the second sensor device heat dissipation piece 22 comprises a plurality of second heat dissipation fins 221, the plurality of second heat dissipation fins 221 are arranged at intervals, and the heat generated by the laser radar can be dissipated through the design of the second heat dissipation fins 221.

[0168] In the embodiment, the number of the integrated sensor device 2 is only one, and the integrated sensor device 2 is arranged at the front end region of the top of the intelligent mower in the advancing direction.

[0169] In the embodiment, the laser radar can be a semi-solid laser radar, and specifically, the laser radar can be a 3D laser radar.

[0170] The integrated sensor device 2 is a laser radar, the horizontal field of view angle of the laser radar is greater than or equal to 180°, and the vertical field of view angle of the laser radar is greater than or equal to 30°.

[0171] As shown in FIGS. 1, 2 and 3, the integrated sensor device 2 is arranged on the top of the intelligent mower in the advancing direction. Figure 1 and Figure 8 As shown in FIGS. 1, 2 and 3, the integrated sensor device 2 is arranged on the top of the intelligent mower in the advancing direction.

[0172] Preferably, the vertical field of view angle of the laser radar is 40°, preferably, the vertical field of view angle of the laser radar is 50°, and preferably, the vertical field of view angle of the laser radar is 59°. The vertical field of view angle of the laser radar is not limited to the listed values, and other values not listed in the value range are also applicable.

[0173] It should be noted that the greater the vertical field of view angle, the greater the range that can be detected by the laser radar, and the smaller the distance between the area that can be detected by the laser radar and the edge of the machine, and the smaller the blind area. When the laser radar with a vertical field of view angle greater than or equal to 30° is used, and the installation position on the mower is determined by the above-mentioned parameters, the detection range can be improved, and the distance between the detection range of the laser radar and the edge of the machine is reduced, thereby achieving the technical effect of reducing the blind area.

[0174] Further, the mower can detect and map the terrain in real time by arranging one integrated sensor device 2, thereby avoiding obstacles and accurately working, so that the operation of the mower is more stable and safe, and the field of view angle of the integrated sensor device 2 arranged in the application can see the nearest point of the front end, the left end and the right end of the machine, thereby further improving the safety of the operation of the mower.

[0175] In this embodiment, the smart lawnmower does not include other sensors for navigation, obstacle avoidance, and weather detection. This application only needs to set up an integrated sensing device 2 to realize the functions of navigation, obstacle avoidance, and weather detection.

[0176] Specifically, the smart lawnmower does not include any other sensors used for navigation;

[0177] Specifically, the smart lawnmower does not include any other sensors used for obstacle avoidance;

[0178] Specifically, the smart lawnmower does not include any other sensors used for weather detection;

[0179] like Figures 2 to 8 As shown, the center of the lidar in this embodiment is located on the centerline of the width direction of the housing 1. It can be understood that since the housing 1 of the lawnmower is symmetrically designed along the width direction, placing the lidar on the centerline of the housing 1 along the width direction is beneficial for accurately detecting the left and right ends of the front of the machine, and also facilitates obstacle avoidance in the lawnmower.

[0180] The lidar is not limited to the arrangement structure in the above embodiments. It can also be that the center of the lidar is located beside the centerline in the width direction of the housing 1, and the technical effect of detecting terrain and avoiding obstacles can also be achieved by tilting the lidar.

[0181] In some more specific embodiments, only one integrated sensing device 2 for navigation, obstacle avoidance and weather detection of the smart lawnmower is provided. That is, only one integrated sensing device 2 integrating multiple functions of navigation, obstacle avoidance and weather detection is provided, and it is a 3D LiDAR. The 3D LiDAR is located on the center line of the width direction of the housing 1 and on the front end area of ​​the top of the housing 1. The horizontal field of view of the 3D LiDAR is 360° and the vertical field of view is 50°.

[0182] The lawnmower of this invention has only one integrated sensor device 2 on its casing 1. By setting up an integrated sensor device 2, navigation, obstacle avoidance and weather detection functions are realized, which simplifies the hardware structure and overcomes the problem of complex control system caused by the use of multiple external sensors in the prior art. This application saves costs by using only one integrated sensor device 2 and improves the user experience of the product.

[0183] The lawnmower of this utility model can detect and map the terrain in real time by setting an integrated sensor device 2, thereby avoiding obstacles and operating accurately, making the lawnmower more stable and safer to operate. Furthermore, by setting an integrated sensor device 2, the field of view of this application can see the nearest points of the front, left and right ends of the machine, which further improves the safety of the lawnmower operation.

[0184] Embodiment 2

[0185] Embodiment 2 differs from Embodiment 1 in that the integrated sensing device 2, which is the same as that of Embodiment 1, will not be described again here. The differences between Embodiment 2 and Embodiment 1 will be described as follows. Please refer to Figures 20-25 :

[0186] In Embodiment 2, the number of integrated sensing devices 2 is set to two.

[0187] Specifically, one integrated sensing device 2 is arranged at the front end region of the intelligent mower in the advancing direction, and the other integrated sensing device 2 is arranged at the front end, side end or rear end region of the intelligent mower. The arrangement position of the other integrated sensing device 2 can be adaptively arranged on one of the front end, side end or rear end region as needed.

[0188] In some specific embodiments, the integrated sensing device 2 is a 2D laser radar, which is solid-state. The 2D laser radar in this embodiment can at least two of navigation, obstacle avoidance and weather detection.

[0189] Further, the horizontal field of view angle of the laser radar is greater than or equal to 80°, and the vertical field of view angle is greater than or equal to 30°.

[0190] Further, the horizontal field of view angle of the laser radar is greater than or equal to 110°, and the vertical field of view angle is greater than or equal to 30°

[0191] Further, the horizontal field of view angle of the laser radar is 120°.

[0192] In this embodiment, the horizontal field of view angle of the two laser radars is greater than that of a single laser radar. To achieve improved detection range through two laser radars, to improve the detection accuracy of the intelligent mower.

[0193] As shown in Figure 20 and 21 In some more specific embodiments, the number of integrated sensing devices 2 for navigation and obstacle avoidance of the intelligent mower is set to two, that is, two integrated sensing devices 2 integrating navigation and obstacle avoidance functions are provided, and are 2D laser radars. Both of the two 2D laser radars are arranged on the center line of the width direction of the casing 1, one is arranged at the front end region of the top of the casing 1, and the other is arranged at the rear end region of the top of the casing 1. The horizontal field of view angle of the 2D laser radar is 110°, and the vertical field of view angle is 50°.

[0194] As shown in Figure 22 and 23As shown in some more specific embodiments, the number of integrated sensing devices 2 for navigation and obstacle avoidance of the intelligent mower is set to two, that is, two integrated sensing devices 2 integrating navigation and obstacle avoidance functions are provided, and are 2D laser radars, one of which is arranged on the middle line of the width direction of the casing 1 and on the front end area of the top of the casing 1, and the other is arranged on the left side area or the rear side area of the top of the casing 1, and the horizontal field of view angle of the 2D laser radar is 110°, and the vertical field of view angle is 50°.

[0195] As shown in some more specific embodiments, the number of integrated sensing devices 2 for navigation and obstacle avoidance of the intelligent mower is set to two, that is, two integrated sensing devices 2 integrating navigation and obstacle avoidance functions are provided, and are 2D laser radars, one of which is arranged on the middle line of the width direction of the casing 1 and on the front end area of the top of the casing 1, and the other is arranged on the left side area or the rear side area of the top of the casing 1, and the horizontal field of view angle of the 2D laser radar is 110°, and the vertical field of view angle is 50°. Figure 24 25 As shown in some more specific embodiments, the number of integrated sensing devices 2 for navigation and obstacle avoidance of the intelligent mower is set to two, that is, two integrated sensing devices 2 integrating navigation and obstacle avoidance functions are provided, and are 2D laser radars, one of which is arranged on the middle line of the width direction of the casing 1 and on the front end area of the top of the casing 1, and the other is arranged on the left side area or the rear side area of the top of the casing 1, and the horizontal field of view angle of the 2D laser radar is 110°, and the vertical field of view angle is 50°.

[0196] Embodiment 3

[0197] Embodiment 3 and Embodiment 1 differ in the integrated sensing devices 2, and the same as Embodiment 1 will not be described here. The differences between Embodiment 3 and Embodiment 1 are described as follows. Please refer to Figures 26-27 :

[0198] In Embodiment 3, the number of integrated sensing devices 2 is set to three.

[0199] Specifically, one integrated sensing device 2 is arranged at the front end area of the intelligent mower in the advancing direction, and the other two integrated sensing devices 2 are arranged at the front end, side end or rear end area of the intelligent mower.

[0200] In this embodiment, that is, one of the other two integrated sensing devices 2 can be arranged at any of the front end, side end or rear end area of the intelligent mower, and the other integrated sensing device 2 can be arranged at any of the front end, side end or rear end area of the intelligent mower. The specific arrangement position can be adjusted as needed.

[0201] In this embodiment, the integrated sensing device 2 is a 2D laser radar, and the 2D laser radar is solid-state. The 2D laser radar in this embodiment can at least two of navigation, obstacle avoidance and weather detection.

[0202] Further, the horizontal field of view angle of the laser radar is greater than or equal to 80°, and the vertical field of view angle is greater than or equal to 30°.

[0203] ​Further, the horizontal field of view angle of the laser radar is greater than or equal to 110°, and the vertical field of view angle is greater than or equal to 30°.

[0204] Further, the horizontal field of view angle of the laser radar is 120°.

[0205] In the embodiment, the horizontal field of view angle of the three laser radars is greater than the horizontal field of view angle of a single laser radar. In order to improve the detection range by the three laser radars, the detection accuracy of the intelligent mower is improved.

[0206] In some more specific embodiments, the number of integrated sensing devices 2 for navigation and obstacle avoidance of the intelligent mower is set to three, that is, the integrated sensing devices 2 integrated with navigation and obstacle avoidance functions are provided with three, and are 2D laser radars, one of which is provided on the center line of the width direction of the machine shell 1, and is provided in the front end area of the top of the machine shell 1, the other is provided in the left side position of the top of the machine shell 1, and the other is provided in the right side position of the top of the machine shell 1.

[0207] Embodiment 4

[0208] As shown in Figures 1 to 6 and Figures 8 to 18 The intelligent mower of the utility model comprises a support and an integrated sensing device 2, and the integrated sensing device 2 is a laser radar in the embodiment, and the laser radar is arranged on the support.

[0209] As shown in Figures 1 to 6 and Figures 8 to 18 The laser radar is arranged on the support, and the intelligent mower further comprises a first heat dissipation device 3, the first heat dissipation device 3 is connected with the laser radar, and the first heat dissipation device 3 is used for dissipating heat of the laser radar.

[0210] The first heat dissipation device 3 is connected with the laser radar, and the heat generated by the laser radar in the working state is transferred, so that the effect of cooling the laser radar is achieved, and the heat generated by the laser radar in the working state avoids affecting the detection accuracy of the laser radar.

[0211] Further, the intelligent mower further comprises a mounting plate 11 arranged on the support, the mounting plate 11 is connected with the first heat dissipation device 3, the mounting plate 11 has a sensing device mounting portion 111, the laser radar is mounted on the sensing device mounting portion 111, and the sensing device mounting portion 111 provides a mounting surface for the laser radar, so as to realize the effect of positioning and mounting the laser radar.

[0212] In the embodiment, the laser radar is arranged on the sensing device mounting portion 111, and the laser radar is connected with the first heat dissipation device 3 through the sensing device mounting portion 111.

[0213] As shown in Figures 1 to 6 andFigures 8 to 18 As shown, the first heat dissipation device 3 comprises a first sensor device heat dissipation piece 31, the first sensor device heat dissipation piece 31 is connected with the mounting plate 11, and the mounting plate 11 is also used for heat conduction to conduct the heat of the laser radar to the first sensor device heat dissipation piece 31, and then the first sensor device heat dissipation piece 31 is used for heat dissipation of the laser radar.

[0214] Specifically, the heat generated by the laser radar is transmitted to the first sensor device heat dissipation piece 31 through the mounting plate 11, and the first sensor device is used for dissipating the heat of the laser radar.

[0215] Further, the first sensor device heat dissipation piece 31 and the mounting plate 11 are integrally arranged. The integrally arranged first sensor device heat dissipation piece 31 and the mounting plate 11 are beneficial to direct heat transfer, thereby improving the heat conduction effect; at the same time, the integrally arranged first sensor device heat dissipation piece 31 and the mounting plate 11 are also convenient for production and processing, which is beneficial to improve the assembly efficiency; at the same time, the overall strength of the first sensor device heat dissipation piece 31 and the mounting plate 11 is also strengthened, which is beneficial to improve the durability.

[0216] Among them, the first sensor device heat dissipation piece 31 and the mounting plate 11 are one-piece aluminum castings, so that the heat dissipation effect can be improved, and the overall structure and assembly can be simplified.

[0217] In the embodiment, the first sensor device heat dissipation piece 31 comprises a plurality of first heat dissipation fins 311, and the plurality of first heat dissipation fins 311 are arranged at intervals. The first heat dissipation fins 311 arranged at intervals form a heat dissipation gap therebetween, thereby increasing the contact area with air to improve the heat dissipation effect.

[0218] As shown, Figures 15 to 18 The first heat dissipation device 3 further comprises a third sensor device heat dissipation piece 32, and the third sensor device heat dissipation piece 32 is mounted on the mounting plate 11; the third sensor device heat dissipation piece 32 is connected with the laser radar, and the third sensor device heat dissipation piece 32 is used for heat dissipation of the laser radar.

[0219] Specifically, the third sensor device heat dissipation piece 32 is connected with the laser radar and the sensor device mounting portion 111, thereby realizing transmission of the heat generated by the laser radar to the sensor device mounting portion 111, and the third sensor device heat dissipation piece 32 itself also has the functions of heat conduction and heat dissipation, so as to cool the laser radar.

[0220] Further, the third sensor device heat dissipation piece 32 comprises at least one of a graphene heat dissipation fin 321 and a heat dissipation copper pipe 322.

[0221] As shown in the embodiment, Figure 15 The third sensor device heat dissipation piece 32 is a graphene heat dissipation fin 321, so as to realize transmission and heat dissipation of the heat generated by the laser radar through the graphene heat dissipation fin 321, whereinFigure 15 A schematic diagram of the installation structure of the casing 1, the laser radar, the mounting plate 11, and the third sensor device heat sink 32.

[0222] As shown in the embodiment of Figure 16 and Figure 17 , the third sensor device heat sink 32 is a heat dissipation copper pipe 322, so as to realize heat dissipation of the heat generated by the laser radar through the heat dissipation copper pipe 322, wherein Figure 16 and Figure 17 A schematic diagram of the installation structure of the casing 1, the laser radar, the mounting plate 11, and the third sensor device heat sink 32.

[0223] As shown in the embodiment of Figure 18 , the third sensor device heat sink 32 is a combination of a graphene heat dissipation sheet 321 and a heat dissipation copper pipe 322, so as to realize the heat dissipation effect of heat conduction through the graphene heat dissipation sheet 321 and the heat dissipation copper pipe 322, wherein Figure 18 A schematic diagram of the installation structure of the casing 1, the laser radar, the mounting plate 11, and the third sensor device heat sink 32.

[0224] It should be noted that the third sensor device heat sink 32 can directly transfer heat with the laser radar, or indirectly transfer heat through the mounting plate 11.

[0225] As shown in the embodiment of Figures 14 to 18 , the intelligent mower further comprises a second heat dissipation device 10, which is arranged beside the laser radar, and the second heat dissipation device 10 is used for air cooling and heat dissipation of the laser radar.

[0226] Among them, Figures 14 to 18 A schematic diagram of the installation structure of the casing 1, the laser radar, the mounting plate 11, the second heat dissipation device 10, and the third sensor device heat sink 32.

[0227] Specifically, the second heat dissipation device 10 adopts the means of air cooling to cool the laser radar, and the second heat dissipation device 10 can be a fan, which provides a heat dissipation air source for the heat dissipation of the laser radar.

[0228] Further, please refer to Figures 16 to 18 , in order to further improve the heat dissipation efficiency, an auxiliary heat dissipation plate 9 can also be arranged beside the mounting plate 11, and the auxiliary heat dissipation plate 9 is connected with the first heat dissipation sensor device heat sink through the third sensor device heat sink 32, so as to further improve the heat dissipation effect.

[0229] Among them, the auxiliary heat dissipation plate 9 is installed on the support, and the auxiliary heat dissipation plate 9 has heat dissipation fins thereon, so as to enhance the heat dissipation effect through the heat dissipation fins.

[0230] In this embodiment, asFigure 15 As shown, the heat sink 32 of the third sensing device can be disposed on the side close to the second heat sink 10, and preferably the heat sink 32 of the third sensing device is a graphene heat sink 321; it can also be as shown in the figure. Figure 16 and Figure 17 As shown, the third sensing device heat sink 32 is preferably a copper heat sink 322, located on the side away from the second heat sink 10; it can also be as shown in the figure. Figure 18 As shown, it is simultaneously located on the side closer to the second heat dissipation device 10 and on the side farther away from the second heat dissipation device 10.

[0231] like Figure 5 , Figure 6 and Figure 12 As shown, the intelligent lawnmower also includes a sensor heat-conducting component 6, which is connected to the lidar and the first heat dissipation device 3 respectively. The sensor heat-conducting component 6 is used to conduct the heat of the lidar to the first heat dissipation device 3.

[0232] Specifically, the heat-conducting component 6 of the sensing device abuts against the lidar and the mounting plate 11 respectively, thereby transferring the heat generated by the lidar to the mounting plate 11, and the heat of the mounting plate 11 to the first heat dissipation device 3, which dissipates heat through multiple first heat dissipation fins 311 of the first heat dissipation device 3.

[0233] It should be noted that the heat-conducting component 6 of the sensing device and the first heat dissipation device 3 can be indirectly connected through the mounting plate 11. The heat of the lidar is transferred to the first heat dissipation device 3 through the heat-conducting component 6 of the sensing device and the mounting plate 11.

[0234] Among them, the heat-conducting component 6 of the sensing device is a heat-conducting silicone pillar or a heat-conducting silicone pad.

[0235] In this embodiment, in order to improve the installation stability of the heat-conducting component 6 of the sensing device, a vibration damping component 7 of the sensing device can be provided between the lidar and the mounting plate 11. The vibration damping component 7 of the sensing device is provided with a mounting hole 71 that matches the heat-conducting component 6 of the sensing device. The mounting hole 71 is provided through the vibration damping component 7 of the sensing device, and the heat-conducting component 6 of the sensing device is disposed in the mounting hole 71.

[0236] like Figures 1 to 3 as well as Figures 8 to 11 As shown, the housing 1 in this embodiment includes a front cover and a rear cover arranged opposite to each other, a first side cover and a second side cover arranged opposite to each other, and a top cover connected to the rear cover, the first side cover and the second side cover. The front cover is connected to the top cover through a mounting plate 11. The front cover, the mounting plate 11, the rear cover, the first side cover, the second side cover and the top cover enclose a sealed cavity, and the lidar is located outside the sealed cavity.

[0237] like Figures 8 to 10As shown, the intelligent mower further comprises a cover plate 4, the cover plate 4 is arranged on the support, a sensing device accommodating space is formed between the cover plate 4 and the support, and the laser radar is at least partially accommodated in the sensing device accommodating space. The cover plate 4 has a through hole 41, and at least a part of the laser radar extends out of the through hole 41.

[0238] Specifically, a part of the laser radar is accommodated in the sensing device accommodating space, and the other part extends out of the through hole 41. The part extending out emits laser to the environment to realize environmental sensing detection.

[0239] Further, as shown in Figures 8 to 10 , the cover plate 4 and the support have at least one second heat dissipation hole 42, the second heat dissipation hole 42 can communicate the sensing device accommodating space and the external space, so that the heat of the laser radar is dissipated.

[0240] Further, the second heat dissipation hole 42 is a long strip hole structure to facilitate ventilation and heat dissipation in the working state of the intelligent mower. The second heat dissipation hole 42 can be arranged on the front side of the support to improve the heat dissipation effect.

[0241] As shown in Figure 11 and Figure 13 , the support is provided with at least one third heat dissipation hole 101, the third heat dissipation hole 101 can communicate the sensing device accommodating space and the external space, so that the heat of the laser radar is dissipated. The third heat dissipation hole 101 is arranged at the bottom of the support, and the third heat dissipation hole 101 is arranged at the bottom of the support to realize heat dissipation. One of the third heat dissipation holes 101 is used for installing the first heat dissipation device 3, and the other third heat dissipation holes 101 are arranged beside the laser radar and communicate with the sensing device accommodating space, so that the third heat dissipation holes 101 have the function of assisting the laser radar to dissipate heat.

[0242] In the embodiment, as shown in Figure 11 and Figure 13 , the first heat dissipation device 3 at least partially extends out of the third heat dissipation hole 101 to the external space. It should be noted that the first heat dissipation fins 311 are provided with a plurality of first heat dissipation fins 311, one part of the first heat dissipation fins 311 is located in the sensing device accommodating space, and the other part of the first heat dissipation fins 311 extends out of the third heat dissipation hole 101 to the sensing device accommodating space, so that the first heat dissipation fins 311 extending out of the sensing device accommodating space contact air to dissipate heat, thereby improving the heat dissipation efficiency.

[0243] It should be noted that the Figure 13 in the embodiment is a structure diagram of the cover plate 4, the shell 1, the first sensing device heat dissipation member 31 of the first heat dissipation device 3 and the third heat dissipation hole 101.

[0244] As shown in Figures 8 to 10As shown, the intelligent mower further comprises a ring-shaped sleeve 5 fixedly connected with the cover plate 4 at the through port 41, and the ring-shaped sleeve 5 is provided with a sensor device outlet 51 matched with the laser radar, and the laser radar at least partially extends outward from the sensor device outlet 51.

[0245] Further, the ring-shaped sleeve 5 is arranged at the through port 41 and abuts against the outer peripheral surface of the laser radar, and the ring-shaped sleeve 5 has at least one first heat dissipation port 52, which can communicate the sensor device accommodating space and the external space, so as to discharge the heat of the laser radar. The first heat dissipation port 52 is arranged along the circumference of the ring-shaped sleeve 5 to form an arc-shaped heat dissipation port structure, and the ring-shaped sleeve 5 plays a role of protection and decoration.

[0246] Further, the first heat dissipation port 52 is at least one of a notch structure and a heat dissipation hole. In this way, the structure of the first heat dissipation port can be adjusted according to the overall arrangement of the intelligent mower to maximize the heat dissipation efficiency.

[0247] In some embodiments, the first heat dissipation port 52 can be a notch structure, which can be a Figure 10 As shown, the notch structure is arranged on the outer peripheral side of the ring-shaped sleeve 5, and can also be arranged on the inner peripheral side of the ring-shaped sleeve 5.

[0248] In other embodiments, the first heat dissipation port 52 can be one or more heat dissipation holes arranged through the ring-shaped sleeve 5.

[0249] In other embodiments, the first heat dissipation port 52 can be a combination of a notch structure and a heat dissipation hole.

[0250] It should be noted that the specific shape and number of the notch structure and the heat dissipation hole on the ring-shaped sleeve 5 are determined according to the actual heat dissipation requirement and the design space, and the specific shape and number of the notch structure and the heat dissipation hole are not limited in the present application.

[0251] In particular, the movement of the mower will drive the surrounding air to flow, and the airflow can flow into the interior of the first heat dissipation port 52 to accelerate heat dissipation and improve the heat dissipation effect.

[0252] More particularly, the ring-shaped sleeve and the laser radar are arranged at the front end region of the top of the housing of the intelligent mower, so that the wind brought by the movement of the mower can better take away the heat in the sensor device accommodating space through the first heat dissipation port.

[0253] Similarly, preferably, the second heat dissipation port 42 is arranged at the front end region of the top of the intelligent mower, so that in the process of the intelligent mower moving, the airflow can flow into the second heat dissipation port 42 formed between the cover plate 4 and the support to improve the heat dissipation efficiency. Specifically, the airflow takes away the heat of the laser radar when passing through to dissipate heat.

[0254] Further, heat can also flow out through the second heat dissipation opening 42 formed between the cover plate 4 and the support, for taking away the heat of the laser radar when the air flows through, for heat dissipation.

[0255] As shown in Figure 6 and Figure 12 , the laser radar comprises a radar body and a second sensor device heat dissipation piece 22, the radar body and the second sensor device heat dissipation piece 22 are fixedly connected, and the second sensor device heat dissipation piece 22 is used for dissipating heat of the radar body.

[0256] Specifically, the second sensor device heat dissipation piece 22 is arranged on the peripheral side of the laser radar, and the second sensor device heat dissipation piece 22 is directly connected with the radar body and is used for dissipating heat of the laser radar.

[0257] Among them, the second sensor device heat dissipation piece 22 is a heat dissipation structure of the laser radar itself, and the second sensor device heat dissipation piece 22 comprises a plurality of second heat dissipation fins 221, the plurality of second heat dissipation fins 221 are arranged at intervals, and the heat generated by the laser radar can be dissipated through the design of the second heat dissipation fins 221.

[0258] In the embodiment, an included angle between a first plane where the first sensor device heat dissipation piece 31 is located and a second plane where the second sensor device heat dissipation piece 22 is located is ∠C, as shown in Figure 12 , ∠C satisfies greater than 90° and less than or equal to 180°. The first plane and the second plane are arranged at an obtuse angle, so that there is a preset distance between the first sensor device heat dissipation piece 31 and the second sensor device heat dissipation piece 22, thereby facilitating the heat dissipation efficiency of the first sensor device heat dissipation piece 31 and the second sensor device heat dissipation piece 22. And the structure of the first plane and the second plane is arranged at an obtuse angle to form a avoiding space to facilitate the installation of the laser radar.

[0259] Further, in order to better dissipate heat of the laser radar, the heat dissipation structure of the intelligent mower comprises heat dissipation fins and a sensor device heat conduction piece 6, the heat dissipation fins are provided in plurality, a part of the plurality of heat dissipation fins is a second heat dissipation fin 221, the second heat dissipation fin 221 is arranged below the radar body, another part of the plurality of heat dissipation fins is a first heat dissipation fin 311, and the first heat dissipation fin 311 is connected with the mounting plate 11. Through the design of the first heat dissipation fin 311 and the sensor device heat conduction piece 6, the heat generated between the laser radar and the mounting plate 11 can be dissipated.

[0260] In the embodiment, the intelligent mower further comprises a machine shell 1, and the support is the machine shell 1. It should be noted that the support can also be a mounting structure arranged on the machine shell 1, and the laser radar is mounted on the machine shell 1 through the mounting structure. Further explanation is that the laser radar can be directly mounted on the machine shell 1, or mounted on the machine shell 1 through the support having a supporting effect.

[0261] In the embodiment, the laser radar can obtain information about the target, such as target distance, direction, height and other parameters, by emitting a laser beam to the target, comparing the received signal reflected from the target with the emitted signal, and performing appropriate processing, so as to detect, track and identify the target. During the working process of the mower, the terrain in front of the mower needs to be accurately detected to prevent the mower from causing damage or harm to the surrounding environment. In the embodiment, a laser radar is arranged on the front part of the machine shell 1 to change the angle of the laser beam emitted by the laser radar, so that the sensing range of the environment in front of the mower is larger, the blind area range is reduced, the terrain can be detected and mapped in real time, and obstacles can be avoided and accurate work can be performed.

[0262] In the embodiment, the laser radar integrates at least two of the navigation and obstacle avoidance and weather detection functions of the intelligent mower. Specifically, the intelligent mower has the navigation and obstacle avoidance functions, which are beneficial to realize the automation of the intelligent mower, and the intelligent mower integrating multiple functions significantly improves the automation degree, which is beneficial to improve the work efficiency, reduce the manual participation and improve the user experience in the actual use.

[0263] Further, the laser radar integrates the navigation and obstacle avoidance functions of the intelligent mower. The laser radar with the navigation function is beneficial to realize the path planning and guidance of the intelligent mower during the working process of the intelligent mower, so as to control the advancing direction of the intelligent mower through the navigation function and improve the efficiency of the intelligent mower. Meanwhile, the laser radar with the obstacle avoidance function is beneficial to avoid the collision between the intelligent mower and obstacles during the working process of the intelligent mower, which is beneficial to improve the safety of the intelligent mower.

[0264] In the embodiment, the number of laser radars integrating the navigation and obstacle avoidance functions of the intelligent mower is only one, which is used for the navigation and obstacle avoidance of the intelligent mower by only arranging one laser radar. The functional integration degree of the laser radar is improved, the hardware structure is simplified, and the problem of complex control system caused by multiple external sensors in the prior art is overcome. The application only uses one laser radar to save the cost and improve the product experience.

[0265] In more embodiments, the laser radar integrates the navigation function of the intelligent mower and also has the positioning function.

[0266] The laser radar also integrates the weather detection function to detect the weather through the laser radar. That is, the laser radar is used for the navigation, obstacle avoidance and weather detection of the intelligent mower. The intelligent mower not only has the navigation and obstacle avoidance functions, but also has the weather detection function to adaptively adjust the working state through the detection of the weather, which is beneficial to improve the safety and efficiency of the intelligent mower.

[0267] In the present embodiment, the number of laser radars integrated with the navigation, obstacle avoidance and weather detection functions of the intelligent mower is only one.

[0268] Specifically, only one laser radar is arranged on the casing 1 of the mower, and the functions of navigation, obstacle avoidance and weather detection are realized by arranging one laser radar, thereby improving the functional integration of the laser radar, simplifying the hardware structure, and overcoming the problem of complex control system caused by using multiple external sensors in the prior art. The present application saves cost and improves product experience by using only one laser radar.

[0269] Further, the mower can detect the terrain in real time and build a map by arranging one laser radar, thereby avoiding obstacles and precise operation, so that the operation of the mower is more stable and safe, and the present application can see the nearest point of the front end, left end and right end of the machine by arranging the field of view angle of the laser radar, thereby further improving the safety of the operation of the mower.

[0270] It should be noted that the intelligent mower of the present embodiment does not include other sensors for one of navigation, obstacle avoidance and weather detection, and the present application only needs to arrange one laser radar to realize the functions of navigation, obstacle avoidance and weather detection.

[0271] In some embodiments, the intelligent mower does not include any other sensor for navigation.

[0272] In other embodiments, the intelligent mower does not include any other sensor for obstacle avoidance.

[0273] In other embodiments, the intelligent mower does not include any other sensor for weather detection.

[0274] In the present embodiment, the laser radar position can be arranged protruding from the casing 1, so that better navigation, obstacle avoidance and weather detection can be performed, such as facilitating the laser radar to detect obstacles in front of and around the casing 1, and facilitating the laser radar to detect the weather, such as rain detection.

[0275] In some specific embodiments, the laser radar is arranged on the casing 1.

[0276] Of course, in a specific embodiment not shown, the laser radar can also be placed in the light-transmitting cover to protect the laser radar by the transparent cover, and the arrangement of the transparent cover does not affect the laser radar to detect obstacles, navigate and detect weather.

[0277] As shown in Figures 1 to 3 and Figures 8 to 11 , the laser radar is arranged at an angle at the front end region of the top of the support.

[0278] The support is the machine shell 1, and the laser radar is arranged at the front end region of the top of the machine shell 1 at an angle with the horizontal plane.

[0279] Specifically, the laser radar is arranged on the machine shell 1 at an angle with the horizontal plane, so that the front end blind area of the intelligent mower can be reduced to the maximum. It should be noted that the laser radar is arranged at the front end region of the top of the machine shell 1 to monitor the environment of the area in the forward direction of the intelligent mower.

[0280] Further, as shown in Figure 1 the inclination angle a between the mounting plane of the laser radar and the horizontal plane in the embodiment ranges from 10° to 60°.

[0281] Preferably, the inclination angle a between the mounting plane of the laser radar and the horizontal plane is 15°, preferably, the inclination angle a between the mounting plane of the laser radar and the horizontal plane ranges from 18°, and preferably, the inclination angle a between the mounting plane of the laser radar and the horizontal plane ranges from 28°. The inclination angle a between the mounting plane of the laser radar and the horizontal plane is not limited to the listed values, and other values not listed in the value range are also applicable.

[0282] It should be noted that the mounting plate 11 can be a convex slope, a concave slope, a heterogeneous slope or an inclined plane, etc. Since the laser radar is fixedly mounted on the mounting plate 11, the laser radar is also arranged at an angle. When the inclination angle a between the mounting plane of the laser radar and the horizontal plane is too small, the distance between the detection range of the laser radar and the edge of the machine body is large, and the blind area formed is also large. When the inclination angle a between the mounting plane of the laser radar and the horizontal plane is too large, the laser radar cannot detect the rear side of the mower, which is not conducive to obstacle avoidance.

[0283] Further, when the remaining parameters are determined, the inclination angle a between the mounting plane of the laser radar and the horizontal plane in the embodiment is 20°, which can facilitate controlling the distance between the detection area of the radar body 21 and the edge of the machine within a range of less than or equal to 0.2m. When the inclination angle a between the mounting plane of the laser radar and the horizontal plane in the embodiment is 20°, the influence of the machine shell 1 on the detection area of the radar body 21 is effectively reduced, the detection range of the radar body 21 is larger, the blind area of the edge of the machine body is greatly reduced, and the detection efficiency of the intelligent mower is improved, which is conducive to improving the navigation and obstacle avoidance accuracy of the intelligent mower.

[0284] In the embodiment, the front end region of the top of the casing 1 has a groove structure with a support surface extending downwardly and obliquely toward the front side of the casing 1, and the intelligent mower further comprises a mounting plate 11 mounted at the front end region of the top of the casing 1, the rear end of the mounting plate 11 being higher than the front end of the mounting plate 11 in the direction of travel of the intelligent mower, and the laser radar is mounted on the mounting plate 11, and the support surface is connected with the mounting plate 11.

[0285] Further, the intelligent mower further comprises a shock pad arranged between the laser radar and the mounting plate 11. The shock pad is mounted on the mounting plate 11 by means of a fastener such as a screw or a bolt. The shock pad is used to buffer the vibration force of the laser radar to achieve the function of reducing noise, and has the functions of protecting the laser radar and reducing noise, effectively improving the stability of the installation of the laser radar.

[0286] The top of the casing 1 has a groove structure for mounting the laser radar, and the groove structure improves the support surface cooperating with the mounting plate 11 to position the laser radar by positioning the mounting plate 11.

[0287] Further, the inside of the groove structure has a first mounting portion, and the casing 1 has a second mounting portion. In one specific embodiment of the embodiment, the mounting plate 11 is clamped with the first mounting portion and the second mounting portion to be positioned and installed by clamping. Specifically, the first mounting portion and the second mounting portion can be one of a buckle and a clamping groove, and the other of the buckle and the clamping groove is arranged at the corresponding position on the mounting plate 11.

[0288] In another specific embodiment of the embodiment, the intelligent mower further comprises a fastener, and the mounting plate 11 is connected with the second mounting portion and the second mounting portion by means of the fastener, and the mounting plate 11 is fixed by means of the fastener such as a screw.

[0289] In the embodiment, the first mounting portion is arranged on the groove bottom surface, the mounting plate 11 has a first plate segment, an inclined plate segment and a second plate segment connected in sequence, the first plate segment abuts against the groove bottom surface and is connected with the first mounting portion, the inclined plate segment abuts against the support surface, and the second plate segment abuts against the casing 1 and is connected with the second mounting portion.

[0290] The mounting plate 11 with the three-segment structure abuts against and is fixed with the groove bottom surface, the support surface and the top surface of the casing 1, respectively, further improving the stability of the installation of the mounting plate 11.

[0291] It should be noted that the top of the casing 1 of the embodiment has a front end region and a rear end region, wherein the front end region and the rear end region are oppositely arranged in the direction of travel of the intelligent mower, and the front end region is the region on one side of the forward direction of the intelligent mower in the working state.

[0292] As Figures 1 to 3 andFigures 8 to 11 As shown, the center of the laser radar in the embodiment is located on the middle line of the support in the width direction. It can be understood that, since the support of the mower is designed symmetrically along the width direction, the laser radar is arranged on the middle line of the support in the width direction, that is, the machine shell 1, so that the laser radar arranged on the middle line of the machine shell 1 in the width direction is beneficial to accurately detecting the left and right ends of the front part of the machine, and meanwhile, it is convenient for the obstacle avoidance processing in the mower.

[0293] In an embodiment not shown in the figure, the center of the laser radar is located on the side of the middle line of the machine shell 1 in the width direction, and the technical effect of detecting the terrain and avoiding obstacles by the laser radar arranged obliquely can also be achieved.

[0294] As shown in the figure, in order to reduce the blind area, the laser radar in the embodiment includes a radar body 21, and the horizontal distance L between the laser emitting part of the radar body 21 and the front end of the machine shell 1 is greater than or equal to 30 mm. Figure 1

[0295] It should be noted that, the closer the laser emitting part of the radar body 21 is to the front end of the machine shell 1, the larger the blind area of the machine will be, and therefore, the horizontal distance L between the laser emitting part of the radar body 21 and the front end of the machine shell 1 needs to be controlled in the range of greater than 30 mm.

[0296] Preferably, the horizontal distance L between the laser emitting part of the radar body 21 and the front end of the machine shell 1 is 35 mm, preferably, the horizontal distance L between the laser emitting part of the radar body 21 and the front end of the machine shell 1 is 38 mm, and preferably, the horizontal distance L between the laser emitting part of the radar body 21 and the front end of the machine shell 1 is 40 mm. The horizontal distance L between the laser emitting part of the radar body 21 and the front end of the machine shell 1 is not limited to the listed values, and other values not listed in the range are also applicable.

[0297] Further, when the remaining parameters are determined, when the horizontal distance L between the radar body 21 and the front end of the machine shell 1 is set in the range of 40 mm-180 mm, it is convenient to control the distance between the detection area of the radar body 21 and the edge of the machine in the range of less than or equal to 0.2 m. When the horizontal distance L between the radar body 21 and the front end of the machine shell 1 is set in the range of 40 mm-180 mm, the influence of the machine shell 1 on the detection area of the radar body 21 is effectively reduced, the detection range of the radar body 21 is larger, the blind area of the edge of the machine body is greatly reduced, and the detection efficiency of the intelligent mower is improved, which is beneficial to improve the accuracy of navigation and obstacle avoidance of the intelligent mower.

[0298] As shown in the figure, in order to reduce the blind area, the laser radar in the embodiment includes a radar body 21, and the horizontal distance L between the laser emitting part of the radar body 21 and the front end of the machine shell 1 is greater than or equal to 30 mm. Figure 2 ​As shown, since the width of the mower body will affect the detection range of the laser radar, when the distance W between the front end of the first side cover and the front end of the second side cover in the width direction of the machine shell 1 is less than or equal to 600mm, it can be prevented that the laser radar arranged on the mounting plate 11 cannot detect the environment and terrain on both sides of the body.

[0299] In this embodiment, as shown in the figure, Figure 8 The horizontal field of view angle A of the laser radar is 360°, as shown in the figure, Figure 1 The vertical field of view angle B is greater than or equal to 30°.

[0300] Preferably, the vertical field of view angle of the laser radar is 40°, preferably, the vertical field of view angle of the laser radar is 50°, preferably, the vertical field of view angle of the laser radar is 59°. The vertical field of view angle of the laser radar is not limited to the listed values, and other values not listed in the value range are also applicable.

[0301] It should be noted that the larger the vertical field of view angle, the larger the range that can be detected by the laser radar, and the smaller the distance between the area that can be detected by the laser radar and the edge of the machine, and the smaller the blind area. When using a laser radar with a vertical field of view angle greater than or equal to 30° and determining the installation position on the mower according to the above parameters, the detection range can be improved while reducing the distance between the detection range of the laser radar and the edge thereof, thereby achieving the technical effect of reducing the blind area.

[0302] From the above technical solutions, the present application has the following beneficial effects:

[0303] The intelligent mower of the present application comprises a first heat dissipation device 3 for cooling the laser radar, which realizes heat dissipation of the laser radar and avoids the heat generated during operation of the laser radar from affecting the detection accuracy of the laser radar.

[0304] The intelligent mower of the present application comprises a first heat dissipation device 3 for cooling the laser radar, which realizes heat dissipation of the laser radar and avoids the heat generated during operation of the laser radar from affecting the detection accuracy of the laser radar.

[0305] The intelligent mower of the present application comprises a first heat dissipation device 3 for cooling the laser radar, which realizes heat dissipation of the laser radar and avoids the heat generated during operation of the laser radar from affecting the detection accuracy of the laser radar.

[0306] It is apparent for a person skilled in the art that the present application is not limited to the details of the above-described exemplary embodiments, but that it can be implemented in other concrete forms without departing from the spirit or the essential characteristics of the present application. Therefore, the embodiments should be considered as exemplary and non-limiting, the scope of the present application being defined by the claims appended hereto rather than by the above description, and all the changes which fall within the meaning and the scope of the equivalent elements of the claims are intended to be comprised in the present application. Any reference sign in the claims should not be considered as limiting the claims to the cited claim.

[0307] Furthermore, it should be understood that, although the present specification is described according to the embodiments, not every embodiment contains only one independent technical solution, and the description manner of the specification is only for the sake of clarity, and a person skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be combined appropriately to form other embodiments which can be understood by a person skilled in the art.

Claims

1. A smart lawnmower, characterized in that, The intelligent lawnmower includes: Support components; An integrated sensing device is provided on the support member. Two integrated sensing devices are provided, one of which is located in the front end area of ​​the intelligent lawnmower along the forward direction, and the other is located in the front end area, side end area, or rear end area of ​​the intelligent lawnmower. The front end area is the area of ​​the intelligent lawnmower closer to the forward direction.

2. The intelligent lawnmower according to claim 1, characterized in that, The integrated sensing device is a lidar.

3. The intelligent lawnmower according to claim 2, characterized in that, Both lidar sensors are positioned along the centerline of the width of the smart lawnmower, with one lidar sensor positioned at the front end of the top of the smart lawnmower and the other lidar sensor positioned at the rear end of the top of the smart lawnmower.

4. The intelligent lawnmower according to claim 2, characterized in that, Of the two lidar sensors, one lidar sensor is positioned on the centerline of the width direction of the smart lawnmower and located at the front end of the top of the smart lawnmower, while the other lidar sensor is positioned on the left or rear side of the smart lawnmower.

5. The intelligent lawnmower according to claim 2, characterized in that, Both lidar sensors are located at the front end of the top of the smart lawnmower, with one lidar sensor located on the left side of the smart lawnmower and the other lidar sensor located on the right side of the smart lawnmower.

6. The intelligent lawnmower according to any one of claims 3-5, characterized in that, The lidar is a 2D lidar with a horizontal field of view of 110° and a vertical field of view of 50°.

7. The intelligent lawnmower according to claim 2, characterized in that, The lidar has a horizontal field of view greater than or equal to 80° and a vertical field of view greater than or equal to 30°.

8. The intelligent lawnmower according to claim 7, characterized in that, The horizontal field of view of the lidar is greater than or equal to 110°.

9. The intelligent lawnmower according to claim 2, characterized in that, The horizontal field of view of the two lidars is greater than that of the single lidar.

10. A smart lawnmower, characterized in that, The intelligent lawnmower includes: Support components; An integrated sensing device is provided on the support member. There are three integrated sensing devices, one of which is located in the front end area of ​​the intelligent lawnmower along the forward direction, and the other two are located in the front end area, side end area, or rear end area of ​​the intelligent lawnmower. The front end area is the area of ​​the intelligent lawnmower closer to the forward direction.

11. The intelligent lawnmower according to claim 10, characterized in that, The integrated sensing device is a lidar.

12. The intelligent lawnmower according to claim 11, characterized in that, Of the three lidars, one lidar is positioned on the centerline of the width direction of the smart lawnmower and at the front end of the top of the smart lawnmower, another lidar is positioned on the left side of the top of the smart lawnmower, and yet another lidar is positioned on the right side of the top of the smart lawnmower.

13. The intelligent lawnmower according to claim 11, characterized in that, The lidar is a 2D lidar.

14. The intelligent lawnmower according to claim 11, characterized in that, The horizontal field of view of the lidar is greater than or equal to 80°, and the vertical field of view is greater than or equal to 30°.

15. The intelligent lawnmower according to claim 14, characterized in that, The horizontal field of view of the lidar is greater than or equal to 100°.

16. The intelligent lawnmower according to claim 11, characterized in that, The field of view of the three lidars is greater than that of the single lidar.

17. A smart lawnmower, characterized in that, The intelligent lawnmower includes: Support components; A lidar is installed on the support member; A first heat dissipation device; the first heat dissipation device is connected to the lidar for dissipating heat from the lidar. The first heat dissipation device includes a first sensor heat dissipation component, which includes a plurality of first heat dissipation fins. The plurality of first heat dissipation fins are spaced apart, and a heat dissipation gap is formed between the plurality of spaced-apart first heat dissipation fins.

18. The intelligent lawnmower according to claim 17, characterized in that, The first heat dissipation device further includes a third sensing device heat dissipation component, which is at least one of a graphene heat sink or a copper heat dissipation pipe.

19. The intelligent lawnmower according to claim 17, characterized in that, The intelligent lawnmower also includes a heat-conducting component for the sensing device, which is connected to the lidar and the first heat dissipation device respectively.

20. The intelligent lawnmower according to claim 17, characterized in that, The intelligent lawnmower includes a second heat dissipation device, which is located next to the lidar and is used to provide air cooling for the lidar.

21. The intelligent lawnmower according to claim 17, characterized in that, The lidar includes a lidar body and a second sensor heat sink, with the second sensor heat sink disposed around the lidar.

22. The intelligent lawnmower according to claim 21, characterized in that, The heat sink of the second sensing device includes a plurality of spaced-apart second heat sinks.

23. The intelligent lawnmower according to claim 22, characterized in that, The second heat sink is located below the radar body.

24. The intelligent lawnmower according to claim 21, characterized in that, The plane on which the heat sink of the first sensing device is located is the first plane, the plane on which the heat sink of the second sensing device is located is the second plane, and the angle between the first plane and the second plane is an obtuse angle.

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