Collecting device and mowing equipment

Abstract

The utility model provides a material collecting device and mowing equipment. The material collecting device comprises a material collecting cavity and a radar sensor. The material collecting cavity is used for containing materials, an opening is formed in the material collecting cavity, and the materials enter the material collecting cavity through the opening; the radar sensor is arranged towards the opening and used for detecting whether the material collecting cavity is full of materials or not, and under the condition that the radar sensor detects that the materials pass through the opening, it is determined that the material collecting cavity is not full of the materials; the radar sensor is arranged to detect whether the material passes through the opening so as to judge whether the material collecting cavity is full of the material, and electromagnetic waves have certain penetrability and are not prone to being blocked by the material to affect the detection effect, so that the detection stability is improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of lawn mowers, and particularly relates to a material collecting device and a lawn mowing device. BACKGROUND

[0002] With the progress of science and technology and the improvement of living standards, lawn mowing robots have gradually become an important tool for modern family garden maintenance. The lawn mowing robot can not only automatically complete the trimming work of the lawn, but also can collect the grass clippings trimmed by the built-in grass collecting device, avoiding the tediousness of manual cleaning.

[0003] When the grass collecting container is full of grass clippings, if the lawn mowing robot cannot stop working or send a signal to the user to clean in time, it may cause the machine to overload, malfunction, or even damage. At present, the existing lawn mowing robots on the market generally use some detection devices to identify the full state of the grass collecting container, but these devices have obvious deficiencies in recognition stability. CONTENT OF THE UTILITY MODEL

[0004] The purpose of the application is to provide a material collecting device and a lawn mowing device, which aims to solve the problem of low fullness detection stability of the material collecting device in the prior art.

[0005] The first aspect of the application embodiment provides a material collecting device, comprising:

[0006] a material collecting cavity for accommodating material, wherein an opening is arranged on the material collecting cavity, and the material enters the material collecting cavity through the opening;

[0007] a radar sensor arranged towards the opening and used for detecting whether the material collecting cavity is full of material, wherein when the radar sensor detects that the opening has material passing through, it is determined that the material collecting cavity is not full of material.

[0008] In some embodiments of the application, the radar sensor is arranged in the material collecting cavity, and the radar sensor is arranged higher than or equal to the opening.

[0009] In some embodiments of the application, the material collecting device further comprises a material collecting channel, one end of the material collecting channel is provided with a material collecting mechanism, and the other end of the material collecting channel is in communication with the opening; the material collecting mechanism is used for collecting material, and the radar sensor is arranged on the inner side wall or the inner top wall of the material collecting channel.

[0010] In some embodiments of the application, the sensing distance of the radar sensor is 5cm to 50cm, and the radar sensor is an adjustable radar sensor in terms of sensing distance.

[0011] And / or, the signal transmission direction of the radar sensor is different from the direction in which the radar sensor points to the working surface on which the material is located before entering the aggregate device.

[0012] And / or, the radar sensor is provided with a radar antenna on the signal emission end.

[0013] And / or, the sensing distance of the radar sensor is 10cm to 30cm.

[0014] In some embodiments of the present application, the aggregate device further comprises a controller configured to determine that the aggregate cavity is not full of material when the radar sensor detects that the material moves along a first direction, the first direction being the direction in which the material enters the aggregate cavity from the opening.

[0015] And / or, the aggregate device further comprises a controller configured to output a prompt signal every preset time during the operation of the aggregate device, the prompt signal being used to prompt the operation of dumping the material in the aggregate cavity.

[0016] And / or, the radar sensor comprises one of a microwave radar sensor and a millimeter wave radar.

[0017] In some embodiments of the present application, the aggregate device further comprises a capacitive sensor arranged in the aggregate cavity, the capacitive sensor being configured to detect the material accumulation height in the aggregate cavity.

[0018] And / or, the aggregate device further comprises a pressure sensor arranged at the bottom of the aggregate cavity and configured to detect the weight change of the material in the aggregate cavity.

[0019] The second aspect of the embodiments of the present application further provides a mowing device comprising the aggregate device as described above.

[0020] In some embodiments of the present application, the mowing device further comprises a judging module configured to determine that the aggregate cavity is full of material when the mowing device is powered on and the radar sensor senses that no material passes through the opening.

[0021] The application has the beneficial effects that: in the aggregate device and the mowing equipment, the aggregate device comprises an aggregate cavity and a radar sensor; the aggregate cavity is used for accommodating materials, and an opening is arranged on the aggregate cavity, through which the materials enter the aggregate cavity; the radar sensor is arranged towards the opening and is used for detecting whether the aggregate cavity is full of materials, and when the radar sensor detects that the opening has materials passing through, it is determined that the aggregate cavity is not full of materials; in the application, the radar sensor is arranged to detect whether the opening has materials passing through, so as to determine whether the aggregate cavity is full of materials, and the electromagnetic wave has a certain penetration, and is not easily affected by the materials to affect the detection effect, which is beneficial to improve the detection stability. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 A structure schematic diagram of the aggregate device provided by an embodiment of the application is shown in the figure.

[0023] Figure 2 Another structure schematic diagram of the aggregate device provided by an embodiment of the application is shown in the figure.

[0024] Figure 3 A structure schematic diagram of the radar sensor provided by an embodiment of the application is shown in the figure. Figure 2 A cross-sectional structure schematic diagram of the A-A of the radar sensor provided by an embodiment of the application is shown in the figure.

[0025] Figure 4 A structure schematic diagram of the radar sensor provided by an embodiment of the application is shown in the figure.

[0026] Figure 5 A step schematic diagram of the grass full detection method of the mowing equipment provided by an embodiment of the application is shown in the figure.

[0027] Figure 6 A step schematic diagram of the grass full detection method of the mowing equipment provided by another embodiment of the application is shown in the figure.

[0028] Figure 7 A step schematic diagram of the grass full detection method of the mowing equipment provided by another embodiment of the application is shown in the figure.

[0029] Specific element symbol explanation: 100-aggregate cavity, 110-opening, 200-radar sensor, 210-radar antenna, 300-aggregate channel, 400-aggregate mechanism, a-first direction. DETAILED DESCRIPTION

[0030] In order to make the technical problems, technical solutions and beneficial effects of the application clearer, the application will be further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the application and do not limit the application.

[0031] It is to be noted that when an element is referred to as being "disposed on" another element, it can be directly on the other element or indirectly on the other element, with at least one intervening element interposed therebetween. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element, with at least one intervening element interposed therebetween.

[0032] In addition, the terms "first", "second", etc. are used herein only to describe different instances, and do not imply or suggest relative importance or an indicated number of the technical features. Therefore, the features defined as "first", "second", etc. can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specifically limited.

[0033] It is to be noted that with the rapid development of science and technology and the continuous improvement of living quality, lawn mowing robots have gradually become an indispensable tool for modern family garden maintenance. Such robots can autonomously complete the mowing of lawns and effectively collect the grass clippings through the built-in grass collecting device, greatly reducing the burden of manual cleaning. However, during the use of the lawn mowing robot, the capacity management of the grass collecting container becomes a key problem that needs to be solved.

[0034] When the grass clippings in the grass collecting container accumulate to the full state, if the lawn mowing robot cannot respond in time and stop working, or fails to send a cleaning prompt to the user, it is likely to cause the robot to malfunction or even be damaged due to overload. This not only affects the service life of the lawn mowing robot, but also brings many inconveniences to the user's daily use.

[0035] Current lawn mowing robots are generally equipped with some devices for detecting the full state of the grass collecting container. However, these devices have significant defects in stability. Specifically, due to the diversity of design principles, material selection, manufacturing processes, and environmental factors (such as grass clippings types, humidity, etc.), these detection devices often have difficulty in accurately and stably identifying the full state of the grass collecting container.

[0036] Based on this, the present application improves the traditional material collecting device and lawn mowing equipment.

[0037] Please refer to Figures 1 to 3 , Figure 1 The structural schematic diagram of the material collecting device provided for the present embodiment is as follows, Figure 2 Another structural schematic diagram of the material collecting device provided for the present embodiment is as follows, Figure 3 The structural schematic diagram of the material collecting device provided for the present embodiment is as follows, Figure 2A-A cross-sectional structure schematic diagram of the embodiment; the aggregate device of the embodiment comprises an aggregate cavity 100 and a radar sensor 200; the aggregate cavity 100 is used for accommodating materials, and the aggregate cavity 100 is provided with an opening 110 through which the materials enter the aggregate cavity 100; the radar sensor 200 is arranged towards the opening 110 and is used for detecting whether the aggregate cavity 100 is full of materials; when the radar sensor 200 detects that the opening 110 has materials passing through, it is determined that the aggregate cavity 100 is not full of materials. Exemplarily, when the aggregate device is applied to a mowing device, when it is detected that there is no material passing through the opening 110 and the cutterhead is rotating, it is determined that the aggregate cavity is full of materials.

[0038] It needs to be explained that the aggregate cavity 100 is used for storing and accumulating materials, and the materials enter the aggregate cavity 100 through the opening 110 on the aggregate cavity 100. Specifically, the materials can be grass clippings, grains, particles, fallen leaves, etc. The radar sensor 200 can detect the dynamic process of the materials entering the aggregate cavity 100 in real time. The radar sensor 200 can perceive the existence and movement state of the materials by emitting and receiving electromagnetic waves, so as to realize accurate monitoring of the state of the materials.

[0039] It can be understood that when the radar sensor 200 detects that the materials are in motion, it indicates that the materials are entering the aggregate cavity 100 along the opening 110. At this time, the aggregate cavity 100 is not full of materials, so the aggregate operation can continue. If the radar sensor 200 does not detect the movement of the materials for a period of time, it usually means that the aggregate cavity 100 is full of materials. Because when the aggregate cavity 100 is full of materials, the materials will no longer enter, so that the radar sensor 200 can no longer detect the movement of the materials. At this time, the radar sensor 200 can send a corresponding signal or prompt to the mainboard (or controller) to inform the operator that the aggregate cavity 100 is full.

[0040] In the current aggregate device, the detection stability of the full state is not high. However, in the present application, the radar sensor 200 is arranged to detect whether the materials pass through the opening 110, so as to determine whether the aggregate cavity 100 is full of materials, and the detection signal of the radar sensor 200 has a certain penetration, and the radar sensor 200 is not easily affected by the materials to affect the detection effect, which is beneficial to improve the detection stability.

[0041] In some embodiments of the present application, the radar sensor 200 is arranged in the aggregate cavity 100, and the radar sensor 200 is arranged higher than or equal to the opening 110.

[0042] It can be understood that when the radar sensor 200 is higher than or equal to the opening 110, it can be ensured that the material will not directly block the line of sight of the radar sensor 200 when entering the aggregate cavity 100. This helps the radar sensor 200 to more accurately perceive the movement and accumulation of the material.

[0043] In some embodiments, the radar sensor 200 can be installed on the top wall of the aggregate cavity 100 or the position close to the top wall of the side wall.

[0044] In some embodiments of the present application, please refer to Figure 1 and Figure 3 , the aggregate device of the present embodiment further comprises an aggregate channel 300, one end of the aggregate channel 300 is provided with an aggregate mechanism 400, and the other end of the aggregate channel 300 is in communication with the opening 110; the aggregate mechanism 400 is used to collect the material, and the radar sensor 200 is arranged on the inner side wall or the inner top wall of the aggregate channel 300.

[0045] It needs to be explained that the inner top wall refers to the inner wall of the aggregate channel 300 farthest from the horizontal plane when the aggregate device is placed on the horizontal plane (i.e. the inner top wall of the aggregate channel 300). The inner side wall refers to the side wall arranged in the horizontal direction along the horizontal plane in the aggregate channel 300, i.e. the left and right side walls inside the aggregate channel 300 when the aggregate device is placed on the horizontal plane.

[0046] It can be understood that the material can be guided from the aggregate mechanism 400 along the aggregate channel into the aggregate cavity 100, realizing the continuity and fluency of the entire aggregate process. Specifically, the aggregate mechanism 400 can collect the material by mechanical grabbing or suction, etc. Arranging the radar sensor 200 on the inner side wall or the inner top wall of the aggregate channel 300 is beneficial to reduce the situation that the radar sensor 200 is blocked by the material deposited in the aggregate channel 300, and the arrangement in the present embodiment ensures that the radar sensor 200 can directly detect the process of the material entering the aggregate channel 300 and the transmission state of the material in the channel.

[0047] In some embodiments, the radar sensor 200 is arranged on the inner side wall of the aggregate channel 300 and faces the other side wall, or the radar sensor 200 is arranged on the inner top wall of the aggregate channel 300 and faces the bottom wall.

[0048] In some embodiments of the present application, the radar sensor 200 is configured to cover the area on the working surface when the aggregate device collects the material on the working surface, i.e. the radar sensor 200 cannot sense the area where the working surface is located, so as to reduce the interference of the environment on the radar sensor 200 and improve the detection accuracy.

[0049] It should be explained that the working surface is the working surface where the material is located before entering the collecting device. In the lawn mowing device, the working surface can be the lawn. That is, the radar sensor 200 does not directly detect the material state on the working surface, but focuses on the material in the collecting channel 300 and the collecting cavity 100. Since there can be various interference factors on the working surface, such as dust, vibration, irregular material, etc. These factors can affect the performance of the radar sensor 200, causing false positives or false negatives. By excluding the working surface area, the influence of these interference factors on the radar sensor 200 can be reduced, and the detection accuracy can be improved.

[0050] In some embodiments of the present application, the sensing distance of the radar sensor 200 is 5cm to 50cm, and the radar sensor 200 is a radar sensor 200 with adjustable sensing distance.

[0051] It can be understood that the movement of the ground material sensed by the radar sensor 200 can be avoided by adjusting the sensing distance of the radar sensor 200, thereby improving the detection accuracy of the radar sensor 200.

[0052] In some embodiments, the sensing distance of the radar sensor 200 is 10cm to 30cm.

[0053] In some embodiments, the signal transmission direction of the radar sensor 200 is different from the direction in which the radar sensor 200 points to the working surface, and the working surface is the working surface where the material is located before entering the collecting device. It can be understood that the movement of the ground can be avoided by limiting the signal transmission direction of the radar sensor 200, thereby improving the detection accuracy of the radar sensor 200.

[0054] In some embodiments, please refer to Figure 4 , Figure 4 The structure of the radar sensor 200 provided by the present embodiment is shown; the radar sensor 200 of the present embodiment is provided with a radar antenna 210 on the signal transmitting end, which is used to adjust the transmitting angle of the radar sensor 200. Specifically, the radar antenna 210 is a microwave antenna with an open horn shape, which includes a feeding part and a horn mouth connected thereto. The feeding part is responsible for guiding electromagnetic waves into the horn mouth. The main working principle is that the electromagnetic waves guided by the feeding part are radiated out through the gradual expansion of the horn opening.

[0055] It can be understood that the signal transmission direction of the radar sensor 200 can be constrained by setting the radar antenna 210 to avoid the radar sensor 200 sensing the movement of the ground, thereby improving the detection accuracy of the radar sensor 200.

[0056] In some embodiments of the present application, please continue to refer toFigure 4 The radar antenna 210 has a flared structure along the signal transmission direction thereof.

[0057] It can be understood that microwaves cannot penetrate metal substances and will be reflected when contacting the metal substances. The radar antenna 210 in the embodiment forms a horn shape, which can reduce the wide angle of microwaves. The angle of the horn aperture can be adjusted to adjust the field of view angle range. Specifically, the radar antenna 210 can be used to narrow the field of view angle of the radar sensor 200, that is, the emission angle is narrowed, so that the radar signal can be focused on the position of the object to be detected and more accurate detection, and the false triggering condition is reduced.

[0058] In a preferred embodiment, the radar sensor can also be an acoustic wave sensor or an optical wave sensor.

[0059] In some embodiments of the present application, the material collecting device includes a material collecting mechanism 400 for collecting material into the material collecting cavity 100. The radar sensor 200 is used to detect whether the material collecting cavity 100 is full of material when the material collecting mechanism 400 is started and the working current of the material collecting mechanism 400 changes.

[0060] In a preferred embodiment of the present application, the material collecting mechanism 400 includes a grass cutting knife. If the grass cutting knife rotates but does not cut any material, no material is collected into the material collecting cavity 100. At this time, the current change of the motor load is used to determine whether the material collecting mechanism 400 cuts the material. For example, when the material collecting mechanism 400 cuts the material, the load current of the motor changes. When the material collecting mechanism 400 does not cut the material, the load current does not change.

[0061] In some embodiments of the present application, please continue to refer to Figure 3 The material collecting device further includes a controller. The controller is used to determine that the material collecting cavity 100 is not full of material when the radar sensor 200 detects that the material moves along a first direction a. The first direction a is the direction in which the material enters the material collecting cavity 100 from the opening 110.

[0062] It should be explained that the radar sensor 200 works by emitting electromagnetic waves and receiving the signals reflected from the material. When the material enters the material collecting cavity 100 along the opening 110, the electromagnetic waves will contact the material and generate reflected signals. These reflected signals are received by the radar sensor 200 and converted into electrical signals, and then transmitted to the controller. Only when the material moves along the first direction a, the controller considers that the material collecting cavity 100 is not full of material.

[0063] In some embodiments, the aggregate device further comprises a controller, the controller being configured to output a prompt signal at preset intervals during the operation of the aggregate device, the prompt signal being configured to prompt the execution of the operation of dumping the material in the aggregate cavity 100.

[0064] It can be understood that in some cases, the detection of the radar sensor 200 can fail, and therefore the user needs to be prompted to dump the material at preset intervals. For example, the radar sensor 200 is more sensitive to larger moving objects (such as fallen leaves and thick grass) and less sensitive to smaller objects. If extremely small, extremely few, and extremely thin grass is cut and collected into the grass collecting frame, it is possible that the detection fails and a false judgment occurs.

[0065] In one preferred embodiment of the present embodiment, taking the material as grass and the aggregate structure as a grass collecting frame structure as an example, the corresponding mechanism is a mowing device. The load current of the cutter motor is divided into four grades of A, B, C, and D, and the load current of the cutter motor increases in turn. When the mowing device is working, the load current of the cutter motor is detected. If the load current is evenly distributed in the A grade, it can be determined that the grass in the aggregate cavity is full after 50 minutes of continuous mowing, and then the grass dumping operation is performed. If the load current is evenly distributed in the B grade, it can be determined that the grass in the aggregate cavity is full after 40 minutes of continuous mowing, and then the grass dumping operation is performed. If the load current is evenly distributed in the C grade, it can be determined that the grass in the aggregate cavity is full after 30 minutes of continuous mowing, and then the grass dumping operation is performed. If the load current is evenly distributed in the D grade, it can be determined that the grass in the aggregate cavity is full after 20 minutes of continuous mowing, and then the grass dumping operation is performed.

[0066] In some embodiments, the radar sensor 200 comprises one of a microwave radar sensor and a millimeter wave radar sensor.

[0067] In some embodiments, the radar sensor 200 can also be a radar sensor 200 of other frequency bands.

[0068] In some embodiments of the present application, the aggregate device further comprises a capacitive sensor, the capacitive sensor being arranged in the aggregate cavity 100, and the capacitive sensor being configured to detect the material accumulation height in the aggregate cavity 100. It can be understood that taking the mowing device as an example, the capacitive sensor can identify the change in the nearby capacitance, and the sensor is installed at a high position of the grass collecting frame. When the material accumulation height reaches a preset height, the capacitive sensor can sense the material, indicating that the grass is full.

[0069] In some embodiments, the collecting device further includes a pressure sensor disposed at the bottom of the collecting chamber 100 and used to detect weight changes of the material within the collecting chamber 100. It can be understood that, taking a mowing device as an example, the pressure sensor detects the overall weight change of the grass collecting frame. Since the weight of the grass collecting frame remains essentially constant, this enables the detection of weight changes of the material within the grass collecting frame. When the detected material weight reaches a preset weight, it is determined that the grass is full.

[0070] It should be noted that this embodiment is equipped with multiple components for sensing grass fullness. When one component fails or becomes insensitive, other components can replace it to perform the function of sensing grass fullness. For example, when each component performs the function of sensing grass fullness, it will transmit the sensing result to the control unit (such as the controller), and the control unit will control the execution of the grass-dredging operation.

[0071] Furthermore, two components can simultaneously perform the function of sensing grass fullness, and the controller analyzes whether grass fullness has occurred based on the sensing results of the two or more components.

[0072] Furthermore, in order to better implement the material collection device in any of the above embodiments, this embodiment also provides a grass mowing device based on the above material collection device, the grass mowing device including the material collection device as described above.

[0073] In some embodiments of this application, the lawn mowing device further includes a judgment module, which is used to determine that when the lawn mowing device is powered on and the radar sensor 200 senses that no material is passing through the opening 110, the material collection chamber 100 is filled with material.

[0074] Understandably, material will only enter the collection chamber 100 when the mowing equipment is powered on, and only then is a material fullness test required.

[0075] In some embodiments of this application, the determination module is used to determine that the material collection chamber 100 is full of material when the blade of the lawnmower is rotating and the radar sensor 200 detects that no material is passing through the opening 110. It can be understood that material can only be cut and guided into the material collection chamber 100 when the blade of the lawnmower is rotating, and only then is it necessary to perform the material full detection.

[0076] In some embodiments, the material collection device can also be applied to sweeping robots and road sweepers. Specifically, it can be used to detect whether the dust collection bag of a sweeping robot is full or the garbage bin of a road sweeper is full.

[0077] Furthermore, in order to better implement the mowing equipment in any of the above embodiments, please refer to the following based on the above mowing equipment: Figure 5 , Figure 5A step schematic diagram of the grass full detection method of the mowing device provided by the embodiment is shown; the embodiment also provides a grass full detection method of a mowing device, the mowing device adopts the mowing device described above, and the grass full detection method comprises the following steps:

[0078] S100: when the mowing device is powered on, detecting whether material passes through the opening 110 of the material collecting cavity 100;

[0079] Specifically, in the case that the mowing device is not powered on, it is not necessary to detect whether material passes through the opening 110 of the material collecting cavity 100, which not only helps to reduce the power consumption of the detection device, but also helps to improve the accuracy of the grass full detection. In the case that the mowing device is powered on, whether material passes through the opening 110 of the material collecting cavity 100 is detected.

[0080] S200: when it is detected that material passes through, and the cutter head of the mowing device is rotating, it is determined that the material collecting cavity 100 is not full of material; specifically, the material passing through the opening 110 indicates that the grass clippings are being cut and trying to enter the material collecting cavity 100, and the rotation of the cutter head ensures that the material cut by the cutter head can be provided to the material collecting cavity 100. Therefore, the above two conditions need to be met at the same time to determine that the material collecting cavity 100 is not full of material.

[0081] S300: when it is detected that no material passes through, and the cutter head of the mowing device is rotating, it is determined that the material collecting cavity 100 is full of material. Specifically, no material passing through the opening 110 may indicate that the material collecting cavity 100 has been filled with grass clippings and cannot accommodate more material. And the cutter head not rotating may mean that the cutting process has stopped or been hindered due to the material collecting cavity 100 being full. The above two conditions need to be met at the same time to determine that the material collecting cavity 100 is full of material.

[0082] It can be understood that in the case that the mowing device is not powered on, it is not necessary to detect whether material passes through the opening, which on the one hand helps to reduce the power consumption of the material collecting device, and on the other hand can avoid the situation that the material collecting device misjudges the grass full state. And in the case that the cutter head is rotating, it can be ensured that the moving material detected by the radar sensor is the material input after being cut by the cutter head, and in the case that the cutter head is not rotating, it is difficult to ensure that the moving material detected by the radar sensor is the material input after being cut by the cutter head, and it may also be the material backflowing in the material collecting cavity due to tilting or other reasons. Therefore, at this time, even if it is detected that material passes through the opening, it is also difficult to accurately determine that the material collecting cavity is full of material. Therefore, in the case that the cutter head is rotating, if it is detected that material passes through the opening, it is determined that the material collecting cavity is not full of material, and if it is detected that no material passes through the opening, it is determined that the material collecting cavity is full of material, which helps to improve the detection accuracy.

[0083] Further, the fourth aspect of the embodiment of the present application further provides a grass full detection method of the mowing device. The grass full detection method in the embodiment of the present application is applied to the mowing device in any of the above embodiments.

[0084] Referring to Figure 6 , Figure 6 A step schematic diagram of the grass full detection method of the mowing device provided by the embodiment is shown. The grass full detection method in the embodiment includes:

[0085] A100: detecting that the load current of the cutterhead motor of the mowing device is large;

[0086] Specifically, if the cutterhead of the mowing device does not cut grass, the cutterhead motor idles, and at this time the current of the cutterhead motor remains a stable value. If the cutterhead of the mowing device cuts grass, the load of the cutterhead motor increases, and at this time the current of the cutterhead motor increases.

[0087] A200: determining the load current position currently occupied by the cutterhead motor of the mowing device, each load current position corresponding to a mowing time length. Specifically, the current increase value of the cutterhead motor of the current mowing device can be calculated based on the current stable value corresponding to the idling of the cutterhead motor, and the load current position of the mowing device is determined according to the current increase value.

[0088] A300: determining that the material collecting cavity is full of material when the mowing time length corresponding to the load current position is reached. Specifically, the larger the load current position, the greater the mowing resistance, and therefore the faster the material collecting speed of the material collecting cavity. At this time, it is necessary to determine that the material collecting cavity 100 is full of material in a relatively shorter mowing time length. Correspondingly, the smaller the load current position, the slower the material collecting speed of the material collecting cavity. At this time, it can be determined that the material collecting cavity 100 is full of material in a relatively longer mowing time length.

[0089] In some embodiments, the grass full detection method further includes: performing a grass dumping operation after step A300.

[0090] In one preferred embodiment of the embodiment, the step A100 is followed by the step A200, and the step A100 further includes:

[0091] obtaining the current load current average value of the motor;

[0092] Specifically, the load current settings of the cutter head motor can be preset to four levels: A, B, C, and D. The corresponding mowing time for each level is 50 minutes, 40 minutes, 30 minutes, and 20 minutes, respectively. When the motor starts and the cutter is cutting grass, the current load current of the motor is monitored in real time. If the load current is increasing, it means that the cutter is currently in the mowing state. The average current of the cutter head motor is calculated and matched with the preset level to obtain the mowing time corresponding to the matched level. The cutter is then controlled to rotate to cut grass. When the mowing time is reached, it means that the current collection chamber is full of grass and mowing needs to be stopped. Therefore, the cutter stops rotating, the current mowing task is completed, and a prompt is given to perform the grass emptying operation. The calculation process for the average current can be as follows: average the load current obtained during mowing within a preset time period, which can be 10 seconds. In this case, the load current is collected every 1 second, and the average value of the load current collected within 10 seconds is calculated. Alternatively, the lawnmower can be controlled to travel a preset distance (e.g., 1 meter), and the load current is collected every 1 second. When the lawnmower travels the preset distance, the average value of the load current collected within the time of traveling the preset distance is calculated.

[0093] It should be noted that if the load current of the blade motor does not change, it means that the blade is not currently mowing, that is, the blade is idling. If the current increases, it means that the blade is currently mowing. Therefore, the gear can be determined based on the change in current, and the mowing time can be determined based on the gear. When the mowing time is reached, the system will indicate that the grass is full and prompt the user to perform the grass emptying operation.

[0094] The fifth aspect of this application also provides a method for detecting grass fullness in a lawn mowing device, which can be applied to any other lawn mowing device.

[0095] Please see Figure 7 , Figure 7 This illustration shows a schematic diagram of the steps of the grass fullness detection method for the lawn mowing equipment provided in this embodiment; the grass fullness detection method in this embodiment includes:

[0096] B100: The load current of the blade motor of the lawnmower has increased.

[0097] Specifically, if the blade of the mowing equipment does not cut the grass, the blade motor will run idle, and the current of the blade motor will remain at a stable value; if the blade of the mowing equipment cuts the grass, the load on the blade motor will increase, and the current of the blade motor will increase.

[0098] B200: Determine the current load current level of the blade motor of the lawnmower. Each load current level corresponds to a mowing duration. Specifically, the increase in current of the blade motor can be calculated based on the current stability value corresponding to the idling current of the blade motor, and the load current level of the lawnmower can be determined based on the increase in current.

[0099] B300: When the mowing time corresponding to the load current setting is reached, the material collection chamber is determined to be full of material. Specifically, a higher load current setting indicates greater mowing resistance, thus the material collection speed in the collection chamber is faster. In this case, the material collection chamber needs to be 100% full of material at a relatively shorter mowing time. Conversely, a lower load current setting indicates a slower material collection speed in the collection chamber. In this case, the material collection chamber can be 100% full of material at a relatively longer mowing time.

[0100] In some embodiments, after step B300, the method further includes performing a grass-cutting operation.

[0101] In a preferred embodiment of this invention, the method further includes the following steps after step B100 and before step B200:

[0102] Obtain the average value of the current load current of the motor;

[0103] Specifically, the load current settings of the cutter head motor can be preset to four levels: A, B, C, and D. The corresponding mowing time for each level is 50 minutes, 40 minutes, 30 minutes, and 20 minutes, respectively. When the motor starts and the cutter is cutting grass, the current load current of the motor is monitored in real time. If the load current is increasing, it means that the cutter is currently in the mowing state. The average current of the cutter head motor is calculated and matched with the preset level to obtain the mowing time corresponding to the matched level. The cutter is then controlled to rotate to cut grass. When the mowing time is reached, it means that the current collection chamber is full of grass and mowing needs to be stopped. Therefore, the cutter stops rotating, the current mowing task is completed, and a prompt is given to perform the grass emptying operation. The calculation process for the average current can be as follows: average the load current obtained during mowing within a preset time period, which can be 10 seconds. In this case, the load current is collected every 1 second, and the average value of the load current collected within 10 seconds is calculated. Alternatively, the lawnmower can be controlled to travel a preset distance (e.g., 1 meter), and the load current is collected every 1 second. When the lawnmower travels the preset distance, the average value of the load current collected within the time of traveling the preset distance is calculated.

[0104] It should be noted that, if the load current of the cutter head motor does not change, it indicates that the cutter head is not currently mowing grass, i.e. the cutter head is idling, and if the current becomes large, it indicates that the cutter head is currently mowing grass, so the gear position can be determined according to the current change, the mowing duration is determined according to the gear position, and in the case where the mowing duration is reached, it is prompted that the current grass is full, and the grass dumping operation is prompted to be performed.

[0105] In the embodiments, the radar sensor is arranged in the aggregate device, and whether the current is in the full-grass state is determined by sensing whether the material passes through the aggregate opening through the radar sensor, without the need for direct contact with the grass, so that false detection can be prevented and the detection accuracy can be improved.

[0106] Secondly, a plurality of sensors are arranged to cooperate to detect whether the current is in the full-grass state, so that the detection accuracy is ensured to a certain extent.

[0107] In the above embodiments, the description of each embodiment has its own emphasis, and the parts not described or recorded in a certain embodiment can be referred to the related description of other embodiments.

[0108] The above has described the basic concept, and obviously, the above detailed disclosure is only taken as an example for the person skilled in the art, and does not constitute a limitation on the present application. Although it is not explicitly stated here, the person skilled in the art can make various modifications, improvements and corrections to the present application. Such modifications, improvements and corrections are suggested in the present application, so such modifications, improvements and corrections still belong to the spirit and scope of the exemplary embodiments of the present application.

[0109] At the same time, specific words are used in the present application to describe the embodiments of the present application. For example, "one embodiment", "an embodiment", and / or "some embodiments" means a certain feature, structure or characteristic related to at least one embodiment of the present application. Therefore, it should be emphasized and noted that the "an embodiment" or "one embodiment" or "one alternative embodiment" mentioned in different places in the specification does not necessarily refer to the same embodiment. In addition, certain features, structures or characteristics in one or more embodiments of the present application can be properly combined.

[0110] Similarly, it should be noted that, in order to simplify the description of the disclosure of the present application and to help understand one or more utility model embodiments, sometimes multiple features are combined into one embodiment, figure or description thereof in the foregoing description of the embodiments of the present application. However, this disclosure method does not mean that the features required by the present application are more than the features mentioned in the claims. In fact, the features of the embodiments are less than all the features of the above-mentioned single embodiment.

[0111] The above-described embodiments are only used to illustrate the technical solutions of the present application, but not limit them; although the present application is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. An aggregate device, characterized by The application relates to a grass collecting device. The grass collecting device comprises a grass collecting cavity for accommodating grass, wherein an opening is arranged on the grass collecting cavity, and the grass enters the grass collecting cavity through the opening; a radar sensor is arranged towards the opening for detecting whether the grass collecting cavity is full of grass, and it is determined that the grass collecting cavity is not full of grass when the radar sensor detects that the opening is passed through by the grass. The radar sensor is arranged in the grass collecting cavity, and the radar sensor is arranged higher than or equal to the opening.

2. The aggregate apparatus of claim 1, wherein, The grass collecting device further comprises a grass collecting channel, one end of the grass collecting channel is provided with a grass collecting mechanism, the other end of the grass collecting channel is communicated with the opening; the grass collecting mechanism is used for collecting the grass, and the radar sensor is arranged on the inner side wall or the inner top wall of the grass collecting channel.

3. The aggregate apparatus of claim 1, wherein, The radar sensor has an inductive distance of 5cm to 50cm, and the radar sensor is an inductive distance adjustable radar sensor.

4. The aggregate apparatus of claim 1, wherein, The signal transmission direction of the radar sensor is different from the direction in which the radar sensor points to a working surface, and the working surface is a working surface on which the grass is located before entering the grass collecting device. A radar antenna is arranged on a signal emission end of the radar sensor.

5. The aggregate apparatus of claim 4, wherein, The grass collecting device further comprises a controller, the controller is used for determining that the grass collecting cavity is not full of grass when the radar sensor detects that the grass moves along a first direction, and the first direction is a direction in which the grass enters the grass collecting cavity from the opening. and / or the radar sensor has a sensing distance of 10 cm to 30 cm 。 6. The aggregate apparatus of any one of claims 1 to 4, wherein, The grass collecting device further comprises a controller, the controller is used for outputting a prompt signal every preset time during the working process of the grass collecting device, and the prompt signal is used for prompting to perform an operation of dumping the grass in the grass collecting cavity. The radar sensor comprises one of a microwave radar sensor and a millimeter wave radar. The grass collecting device further comprises a capacitive sensor, the capacitive sensor is arranged in the grass collecting cavity, and the capacitive sensor is used for detecting a grass accumulation height in the grass collecting cavity.

7. The aggregate apparatus of any one of claims 1 to 5, wherein, The grass collecting device further comprises a pressure sensor, the pressure sensor is arranged at the bottom of the grass collecting cavity, and the pressure sensor is used for detecting a weight change of the grass in the grass collecting cavity. The grass cutting equipment comprises the grass collecting device according to any one of claims 1 to 7.

8. A grass cutting apparatus characterised in that, The grass cutting equipment further comprises a judging module, the judging module is used for determining that the grass collecting cavity is full of grass when the grass cutting equipment is powered on and the radar sensor senses that the opening is not passed through by the grass.

9. The lawnmowing apparatus of claim 8, wherein, The judging module is further used for determining that the grass collecting cavity is full of grass when the grass cutting equipment is powered on and the radar sensor senses that the opening is not passed through by the grass.

10. The lawnmowing apparatus according to claim 9, characterized in that ​

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