Mobile robot

Abstract

The utility model is suitable for the technical field of mobile robots, and provides a mobile robot which comprises an equipment body, two walking wheel assemblies and a ground clearance detection module, and a pivot shaft is arranged at the bottom of the equipment body; the two walking wheel assemblies are located on the two opposite sides of the equipment body and are in pivot joint with the pivot joint shafts correspondingly, and when the walking wheel assemblies leave the ground, the walking wheel assemblies can swing around the pivot joint shafts; the ground clearance detection module is arranged between the equipment body and the walking wheel assembly and used for detecting the ground clearance of the walking wheel assembly and outputting a ground clearance signal. According to the mobile robot, the two walking wheel assemblies are arranged to be in pivot joint with the same pivot joint shaft, the structure of the mobile robot is simplified, and the maintenance cost of the mobile robot is reduced.

Description

Technical Field

[0001] This application belongs to the field of mobile robot technology, and more specifically, relates to a mobile robot. Background Technology

[0002] A lawnmower robot is a common type of mobile robot. It integrates technologies from multiple disciplines, including mechanics, electronics, automation, and computer science. It features autonomous navigation, automatic mowing, and obstacle avoidance, aiming to free up manpower, improve mowing efficiency and quality, and provide users with a convenient and efficient lawn maintenance solution. Some existing lawnmower robots are equipped with ground sensors to detect whether their wheels are off the ground.

[0003] However, the deployment and calibration of existing off-ground sensors are quite difficult. Utility Model Content

[0004] The purpose of this application is to provide a mobile robot that solves the technical problem of the difficulty in arranging and calibrating the ground-based sensors of existing lawnmower robots.

[0005] To achieve the above objectives, according to one aspect of this application, a mobile robot is provided. The mobile robot includes: a device body, two walking wheel assemblies, and a ground clearance detection module. A pivot shaft is provided at the bottom of the device body. The two walking wheel assemblies are located on opposite sides of the device body and are pivotally connected to the pivot shaft respectively. When the walking wheel assemblies are off the ground, they can swing around the pivot shaft. The ground clearance detection module is disposed between the device body and the walking wheel assemblies and is used to detect the ground clearance of the walking wheel assemblies and output a ground clearance signal.

[0006] Optionally, a limit bracket is provided at the bottom of the equipment body, and a limit hole is provided on the limit bracket. The traveling wheel assembly passes through the limit hole and is pivotally connected to the pivot shaft, and the traveling wheel assembly and the limit hole are clearance-fitted.

[0007] Optionally, the limiting bracket includes a first bracket and a second bracket. The first bracket is installed on the equipment body, and the second bracket is installed on the first bracket. The first bracket is provided with a first limiting recess, and the second bracket is provided with a second limiting recess. The first limiting recess and the second limiting recess together form a limiting hole.

[0008] Optionally, the traveling wheel assembly includes a sleeve, a drive motor, and a traveling wheel body. The sleeve passes through a limiting hole and is pivotally connected to a pivot shaft. The drive motor is installed inside the sleeve, and the output end of the drive motor extends outside the sleeve and is drivenly connected to the traveling wheel body.

[0009] Optionally, the sleeve of one of the two wheel assemblies has a first rotating portion, and the sleeve of the other wheel assembly has a second rotating portion. The first rotating portion and the second rotating portion are respectively pivotally connected to the pivot shaft. The first rotating portion has a relief recess, and the second rotating portion extends into the relief recess.

[0010] Optionally, the mobile robot also includes an elastic element located between the two wheel assemblies for applying a force away from the device body to the wheel assemblies.

[0011] Optionally, the elastic element includes a tension spring, and a hanging part is provided on the side of the sleeve opposite to the equipment body. The two ends of the tension spring are respectively connected to the hanging parts of the two walking wheel assemblies.

[0012] Optionally, a U-shaped connector is provided at the bottom of the equipment body, with the open end of the U-shaped connector located on the side away from the equipment body, and the pivot shaft is installed at the open end.

[0013] Optionally, the ground clearance detection module includes a magnet and a Hall sensor, one of which is located at the end of the wheel assembly away from the pivot shaft, and the other is located on a limiting bracket. When the wheel assembly is off the ground, the distance between the magnet and the Hall sensor increases. Alternatively, the ground clearance detection module includes a pressure sensor located within a limiting hole. When the wheel assembly is off the ground, the wheel assembly separates from the pressure sensor. Alternatively, the ground clearance detection module includes a photoelectric transmitting component and a photoelectric receiving component, which are respectively installed on the two wheel assemblies. When the wheel assembly is off the ground, the photoelectric transmitting component and the photoelectric receiving component are misaligned. Alternatively, the ground clearance detection module includes an acceleration detection component installed on the wheel assembly. Alternatively, the ground clearance detection module includes a radio frequency tag component and a radio frequency read / write component. When the wheel assembly is off the ground, communication between the radio frequency tag component and the radio frequency read / write component is interrupted.

[0014] Optionally, the mobile robot also includes a control module and a mowing module. The control module is used to control the mowing module to stop working after receiving a take-off signal.

[0015] The beneficial effects of the mobile robot provided in this application are as follows: Compared with the prior art, the mobile robot provided in this application pivots two walking wheel assemblies to the pivot axis at the bottom of the device body, and sets a ground clearance detection module between the walking wheel assemblies and the device body to detect the ground clearance of the walking wheel assemblies, thereby improving the mobile robot's adaptability to complex terrain and its working safety. At the same time, since the two walking wheel assemblies are pivoted to the same pivot axis, the two walking wheel assemblies have the same pivot axis. At this time, the two walking wheel assemblies can have the same or mirrored motion trajectory, thereby reducing the difficulty of arranging and calibrating the ground clearance detection module. Furthermore, setting the two walking wheel assemblies to have the same pivot axis can also simplify the structure of the mobile robot, giving the mobile robot a more uniform weight distribution and better balance, while also reducing the maintenance cost of the mobile robot. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 A schematic diagram of the structure of a mobile robot with some components removed, provided in an embodiment of this application;

[0018] Figure 2 A schematic diagram of the structure of a mobile robot with some components removed, provided from another perspective in an embodiment of this application;

[0019] Figure 3 A cross-sectional schematic diagram of a mobile robot with some parts removed, provided as an embodiment of this application;

[0020] Figure 4 A cross-sectional schematic diagram of a mobile robot with some parts removed, provided from another perspective for an embodiment of this application;

[0021] Figure 5 A cross-sectional schematic diagram of a mobile robot with some parts removed, in which the walking wheel assembly is in an off-ground state, provided as an embodiment of this application;

[0022] Figure 6 A cross-sectional schematic diagram of a mobile robot with some parts removed, showing the walking wheel assembly in a state of being off the ground, provided as another perspective for an embodiment of this application;

[0023] The details of the reference numerals used in the above figures are as follows:

[0024] 11. Equipment body; 12. Limiting bracket; 121. First bracket; 1211. First limiting recess; 122. Second bracket; 1221. Second limiting recess; 123. Limiting hole; 13. Pivot shaft; 14. U-shaped connector;

[0025] 21. Walking wheel assembly; 211. Walking wheel body; 212. Drive motor; 213. Sleeve; 22. Driven wheel assembly;

[0026] 30. Ground clearance detection module; 31. Photoelectric transmitting component; 32. Photoelectric receiving component. Detailed Implementation

[0027] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0028] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly or indirectly on that other element. When an element is referred to as being "connected to" another element, it can be directly or indirectly connected to that other element. Unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0029] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0030] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0031] See Figures 1 to 6As shown, an embodiment of this application provides a mobile robot, which includes: a device body 11, two wheel assemblies 21, and a ground clearance detection module 30. The device body 11 has a pivot shaft 13 at its bottom. The two wheel assemblies 21 are located on opposite sides of the device body 11 and are pivotally connected to the pivot shaft 13 respectively. When the wheel assemblies 21 are off the ground, they can swing around the pivot shaft 13. The ground clearance detection module 30 is disposed between the device body 11 and the wheel assemblies 21 and is used to detect the ground clearance of the wheel assemblies 21 and output a ground clearance signal. The mobile robot provided in this embodiment has two walking wheel assemblies 21 pivotally connected to the pivot shaft 13 at the bottom of the device body 11, and a ground clearance detection module 30 is set between the walking wheel assemblies 21 and the device body 11 to detect the ground clearance of the walking wheel assemblies 21. This improves the mobile robot's adaptability to complex terrain and its operational safety. At the same time, since the two walking wheel assemblies 21 are pivotally connected to the same pivot shaft 13, the two walking wheel assemblies 21 have the same pivot axis. At this time, the two walking wheel assemblies 21 can have the same or mirrored motion trajectory, thereby reducing the difficulty of arranging and calibrating the ground clearance detection module 30. Furthermore, setting the two walking wheel assemblies 21 to have the same pivot axis can also simplify the structure of the mobile robot, giving it a more uniform weight distribution and better balance, while also reducing the maintenance cost of the mobile robot.

[0032] In one optional embodiment, the mobile robot provided in this embodiment is a garden robot.

[0033] See Figures 1 to 6 As shown, in a specific embodiment, a limiting bracket 12 is provided at the bottom of the device body 11. A limiting hole 123 is provided on the limiting bracket 12. The walking wheel assembly 21 passes through the limiting hole 123 and is pivotally connected to the pivot shaft 13. The walking wheel assembly 21 and the limiting hole 123 are in clearance fit. By providing a limiting bracket 12 at the bottom of the device body 11 and making the limiting hole 123 on the limiting bracket 12 in clearance fit with the walking wheel assembly 21, the range of motion of the walking wheel assembly 21 can be effectively limited, preventing excessive swinging or deviation from the predetermined position when the walking wheel assembly 21 is off the ground. This ensures that the mobile robot maintains stable operation in complex terrain. At the same time, setting the walking wheel assembly 21 to be in clearance fit with the limiting hole 123 ensures that the walking wheel can swing flexibly around the pivot shaft 13 when off the ground, while avoiding wear or jamming due to excessive friction, thus extending the service life of the mobile robot.

[0034] In another embodiment, the walking wheel assembly 21 in this embodiment is provided with a limiting structure. The limiting structure is used to cooperate with another walking wheel assembly 21 to restrict the up-and-down swing of the other walking wheel assembly 21. By providing a limiting structure on the walking wheel assembly 21 to restrict the up-and-down swing of the other walking wheel assembly 21, the limiting bracket 12 can be eliminated, freeing up the bottom space of the device body 11, simplifying the structure of the mobile robot. At the same time, it can also ensure that the walking wheel assembly 21 does not move excessively during the swinging process, ensuring the detection accuracy of the ground clearance detection module 30.

[0035] In one alternative embodiment, the end of the walking wheel assembly 21 provided in this embodiment that is close to another walking wheel assembly 21 forms a limiting structure.

[0036] In one alternative embodiment, the two walking wheel assemblies 21 provided in this embodiment are arranged on opposite sides of the device body 11 in a first direction, wherein the first direction is parallel to the working plane of the mobile robot.

[0037] In one alternative embodiment, the pivot shaft 13 provided in this embodiment extends along a second direction, wherein the second direction is parallel to the working plane of the mobile robot and perpendicular to the first direction.

[0038] In one optional embodiment, the working plane of the mobile robot provided in this embodiment is a horizontal plane.

[0039] In one specific embodiment, the walking wheel assembly 21 provided in this embodiment is able to swing downward along the pivot axis 13 under the action of gravity when it is off the ground.

[0040] In one specific embodiment, the walking wheel assembly 21 provided in this embodiment has a ground-free state in which it swings downwards and is restricted by the limiting hole 123, and a ground-contact state in which it swings upwards and is restricted by the limiting hole 123. When the walking wheel assembly 21 is in the ground-free state, or when the walking wheel assembly 21 switches from the ground-contact state to the ground-free state, the ground-free detection module 30 can detect the ground-free state of the walking wheel assembly 21 and output a ground-free signal. When the walking wheel assembly 21 is in the ground-contact state, the ground-free detection module 30 outputs a ground-contact signal.

[0041] See Figure 2As shown, in a specific embodiment, the limiting bracket 12 includes a first bracket 121 and a second bracket 122. The first bracket 121 is mounted on the device body 11, and the second bracket 122 is mounted on the first bracket 121. The first bracket 121 is provided with a first limiting recess 1211, and the second bracket 122 is provided with a second limiting recess 1221. The first limiting recess 1211 and the second limiting recess 1221 together form a limiting hole 123. By configuring the limiting bracket 12 to be formed by the first bracket 121 and the second bracket 122, and the limiting hole 123 to be formed by the first limiting recess 1211 and the second limiting recess 1221, the processing difficulty and cost of the limiting bracket 12 and the limiting hole 123 can be reduced.

[0042] In an optional embodiment, the second bracket 122 provided in this embodiment is detachably mounted on the first bracket 121. By setting the second bracket 122 to be detachably mounted on the first bracket 121, the assembly of the walking wheel assembly 21 can be facilitated.

[0043] See Figures 3 to 6 As shown, in a specific embodiment, when the walking wheel assembly 21 is off the ground, the inner sidewall of the limiting hole 123 on the side away from the device body 11 abuts against the walking wheel assembly 21 to restrict the walking wheel assembly 21 from continuing to swing downward. When the walking wheel assembly 21 is on the ground, the inner sidewall of the limiting hole 123 on the side close to the device body 11 abuts against the walking wheel assembly 21 to restrict the moving wheel assembly from continuing to swing upward.

[0044] See Figure 3 and Figure 5 As shown, in a specific embodiment, the walking wheel assembly 21 in this embodiment includes a sleeve 213, a drive motor 212 and a walking wheel body 211. The sleeve 213 passes through the limiting hole 123 and is pivotally connected to the pivot shaft 13. The drive motor 212 is installed inside the sleeve 213, and the output end of the drive motor 212 extends to the outside of the sleeve 213 and is drivenly connected to the walking wheel body 211. By pivoting the sleeve 213 to the pivot shaft 13, the walking wheel assembly 21 can swing downward around the pivot shaft 13 when it is off the ground. By cooperating with the limiting hole 123, the range of motion of the walking wheel assembly 21 can be limited. At the same time, by installing the drive motor 212 inside the sleeve 213, the influence of external interference on the operation of the drive motor 212 can be reduced. Setting the output end of the drive motor 212 to extend outside the sleeve 213 and drively connect it to the walking wheel body 211 can simplify the transmission structure between the drive motor 212 and the walking wheel body 211 to a certain extent, reduce energy loss, and enhance the response speed and load capacity of the walking wheel body 211.

[0045] In one alternative embodiment, the walking wheel body 211 provided in this embodiment is located at the end of the sleeve 213 away from the pivot shaft 13.

[0046] In one specific embodiment, the sleeve 213 of one of the two walking wheel assemblies 21 has a first rotating portion, and the sleeve 213 of the other walking wheel assembly 21 has a second rotating portion. The first rotating portion and the second rotating portion are respectively pivotally connected to the pivot shaft 13. The first rotating portion has a clearance recess, and the second rotating portion extends into the clearance recess. By setting the sleeves 213 of the two walking wheel assemblies 21 to have a first rotating portion and a second rotating portion respectively, the two sleeves 213 can be pivotally connected to the same pivot shaft 13 through the first rotating portion and the second rotating portion respectively. At the same time, by providing a clearance recess on the first rotating portion and extending the second rotating portion into the clearance recess, it can be ensured that the two walking wheel assemblies 21, when arranged in a mirror-symmetrical manner and swinging around the pivot shaft 13, do not interfere with each other, thus enhancing the stability and coordination of the mobile robot.

[0047] In one specific embodiment, the mobile robot further includes an elastic element located between the two walking wheel assemblies 21. This elastic element applies a force away from the device body 11 to the walking wheel assemblies 21. By providing the elastic element between the two walking wheel assemblies 21, the walking wheel assemblies 21 can increase the pressure between themselves and the working surface through the force applied by the elastic element. This increases the friction of the moving wheel assemblies on the working surface, reduces slippage, and enhances the obstacle-crossing ability of the mobile robot.

[0048] In one specific embodiment, the elastic element includes a tension spring. A hanging element is provided on the side of the sleeve 213 facing away from the device body 11, and the two ends of the tension spring are respectively connected to the hanging elements of the two walking wheel assemblies 21. By providing a hanging element on the side of the sleeve 213 facing away from the device body 11 and connecting the two ends of the tension spring to the hanging elements of the two walking wheel assemblies 21, the mobile robot can apply a uniform and continuous force facing away from the device body 11 to the two walking wheel assemblies 21 through the tension spring. This ensures that the walking wheel assemblies 21 maintain close contact with the working surface during operation, avoiding slippage or suspension caused by uneven ground or vibration, and enhancing the mobile robot's grip and stability in complex terrain.

[0049] In one optional embodiment, the force exerted by the tension spring away from the device body 11 provided in this embodiment is the component of the tension force exerted by the tension spring in the direction away from the device body 11.

[0050] In another embodiment, the elastic element provided in this embodiment includes a compression spring. A compression spring fulcrum is provided on the side of the sleeve 213 near the device body 11. The two ends of the compression spring are respectively connected to the compression spring fulcrums of the two walking wheel assemblies 21. By providing a compression spring fulcrum on the side of the sleeve 213 near the device body 11 and connecting the two ends of the compression spring to the compression spring fulcrums of the two walking wheel assemblies 21, the mobile robot can apply a uniform and continuous force away from the device body 11 to the two walking wheel assemblies 21 through the compression spring. This ensures that the walking wheel assemblies 21 maintain close contact with the working surface during operation, avoiding slippage or suspension caused by uneven ground or vibration, and enhancing the mobile robot's grip and stability in complex terrain.

[0051] In another embodiment, the elastic element provided in this embodiment includes a torsion spring. A torsion spring fulcrum is provided on the side of the sleeve 213 near the device body 11. The torsion spring is sleeved on the pivot shaft 13, and its two ends are respectively connected to the compression spring fulcrums of the two walking wheel assemblies 21. By providing a torsion spring fulcrum on the side of the sleeve 213 near the device body 11 and connecting the two ends of the torsion spring to the torsion spring fulcrums of the two walking wheel assemblies 21, the mobile robot can apply a uniform and continuous force away from the device body 11 to the two walking wheel assemblies 21 through the torsion spring. This ensures that the walking wheel assemblies 21 maintain close contact with the working surface during operation, avoiding slippage or suspension caused by uneven ground or vibration, and enhancing the mobile robot's grip and stability in complex terrain.

[0052] In one specific embodiment, a U-shaped connector 14 is provided at the bottom of the device body 11. The open end of the U-shaped connector 14 is located on the side opposite to the device body 11, and the pivot shaft 13 is installed at the open end. By providing the U-shaped connector 14 at the bottom of the device body 11 to install the pivot shaft 13, a certain clearance space can be formed between the pivot shaft 13 and the device body 11, thereby facilitating the pivot connection between the walking wheel assembly 21 and the pivot shaft 13. At the same time, by installing the pivot shaft 13 through the open end of the U-shaped connector 14, the installation and disassembly of the pivot connection can be made more convenient, facilitating the maintenance and replacement of the walking wheel assembly 21, and improving the maintainability of the mobile robot.

[0053] See Figure 3 and Figure 5As shown, in a specific embodiment, the ground clearance detection module 30 includes a magnet and a Hall sensor. One of the magnet and the Hall sensor is disposed at the end of the walking wheel assembly 21 away from the pivot shaft 13, and the other of the magnet and the Hall sensor is disposed on the limiting bracket 12. When the walking wheel assembly 21 is off the ground, the distance between the magnet and the Hall sensor increases. The Hall sensor provided in this embodiment detects the ground clearance of the walking wheel assembly 21 by the change in the magnetic field strength exerted on it by the magnet. When the walking wheel assembly 21 is off the ground, the distance between the magnet and the Hall sensor increases, resulting in a decrease in the magnetic field strength exerted on the Hall sensor by the magnet. The Hall sensor can detect this change in real time and output a ground clearance signal.

[0054] In one specific embodiment, the magnet provided in this embodiment is disposed at the end of the walking wheel assembly 21 away from the pivot shaft 13. The Hall sensor is installed on the limiting bracket 12 and located above the magnet. When the walking wheel assembly 21 is in the ground-contact state, the positions of the walking wheel assembly 21 and the limiting bracket 12 are relatively fixed, and the magnet and the Hall sensor maintain a relatively fixed distance and positional relationship. At this time, the magnetic field strength detected by the Hall sensor is relatively stable, and the output Hall voltage is also kept at a relatively stable level. At this time, the Hall voltage output by the Hall sensor is the ground-contact signal. When the walking wheel assembly 21 switches to the off-ground state, the walking wheel assembly 21 will swing downward, causing the distance between the magnet and the Hall sensor to increase. The magnetic field strength detected by the Hall sensor changes, and its output Hall voltage also changes accordingly. At this time, the Hall voltage output by the Hall sensor is the off-ground signal.

[0055] In another embodiment, the ground clearance detection module 30 includes a pressure sensor disposed within a limiting hole 123. When the walking wheel assembly 21 is off the ground, the walking wheel assembly 21 separates from the pressure sensor. By disposing of the pressure sensor within the limiting hole 123, the relative position between the walking wheel assembly 21 and the pressure sensor can change with the swinging of the walking wheel assembly 21, thereby changing the pressure exerted by the walking wheel assembly 21 on the pressure sensor. The pressure sensor detects the change in the pressure exerted on it to detect the ground clearance of the walking wheel assembly 21. The pressure sensor can directly reflect the contact state with the walking wheel assembly 21, improving the intuitiveness and accuracy of the detection.

[0056] In one specific embodiment, the pressure sensor provided in this embodiment is installed in the limiting hole 123 and located above the walking wheel assembly 21. When the walking wheel assembly 21 is in the ground-contact state, the positions of the walking wheel assembly 21 and the limiting bracket 12 are relatively fixed and press against the detection end of the pressure sensor. At this time, the pressure detected by the pressure sensor is relatively stable, and the output electrical signal is also kept at a relatively stable level. At this time, the electrical signal output by the pressure sensor is the ground-contact signal. When the walking wheel assembly 21 switches to the off-ground state, the walking wheel assembly 21 will swing downward. At this time, the walking wheel assembly 21 separates from the pressure sensor, causing the pressure sensor to not detect pressure, that is, the detected pressure is zero. The electrical signal output by the pressure sensor also changes accordingly. At this time, the electrical signal output by the pressure sensor is the off-ground signal.

[0057] In one specific embodiment, the pressure sensor provided in this embodiment is installed on the inner sidewall of the limiting hole 123 near the device body 11.

[0058] In another embodiment, the ground clearance detection module 30 includes a photoelectric emitting component 31 and a photoelectric receiving component 32. The photoelectric emitting component 31 and the photoelectric receiving component 32 are respectively installed on two walking wheel assemblies 21. When the walking wheel assembly 21 is off the ground, the photoelectric emitting component 31 and the photoelectric receiving component 32 are misaligned. By installing the photoelectric emitting component 31 and the photoelectric receiving component 32 on the two walking wheel assemblies 21, the relative position between the photoelectric emitting component 31 and the photoelectric receiving component 32 can change with the swing of the walking wheel assembly 21, thereby changing the relative position between the light beam emitted by the photoelectric emitting component and the photoelectric receiving component 32. The photoelectric receiving component 32 detects the ground clearance of the walking wheel assembly 21 by detecting the change in the light beam. The photoelectric emitting component 31 and the photoelectric receiving component 32 can achieve non-contact, high-precision detection, which is suitable for different working environments.

[0059] In one specific embodiment, the photoelectric receiving component 32 provided in this embodiment is installed on one of the two walking wheel assemblies 21, and the photoelectric transmitting component 31 is installed on the other of the two walking wheel assemblies 21. The receiving end of the photoelectric receiving component 32 and the transmitting end of the photoelectric transmitting component 31 are arranged opposite to each other. When the walking wheel assembly 21 is in the ground contact state, the positions of the walking wheel assembly 21 and the limiting bracket 12 are relatively fixed, and the photoelectric receiving component 32 and the photoelectric transmitting component 31 maintain a relatively fixed distance and positional relationship. At this time, the transmitting end of the photoelectric transmitting component 31 and the receiving end of the photoelectric receiving component 32 correspond to each other, and the photoelectric receiving component 32 receives the photoelectric emission. When component 31 emits a light beam, the electrical signal output by photoelectric receiving component 32 remains at a relatively stable level. At this time, the electrical signal output by photoelectric receiving component 32 is a ground contact signal. When the walking wheel component 21 switches to the off-ground state, the walking wheel component 21 will swing towards the bottom of the device body 11, causing the relative position between photoelectric receiving component 32 and photoelectric emitting component 31 to change. That is, the photoelectric receiving component 32 and photoelectric emitting component 31 are misaligned, the intensity of the light beam received by photoelectric receiving component 32 becomes weaker, or even no light beam is received. The electrical signal output by photoelectric receiving component 32 also changes accordingly. At this time, the electrical signal output by the photoelectric receiving component is an off-ground signal.

[0060] In one optional embodiment, the photoelectric receiving component 32 provided in this embodiment is a photoelectric receiver.

[0061] In one optional embodiment, the photoelectric generating component provided in this embodiment is a light-emitting diode.

[0062] In one optional embodiment, the photoelectric receiving component 32 and the photoelectric emitting component 31 provided in this embodiment are respectively installed on the two adjacent sides of the two sleeves 213.

[0063] In another embodiment, the ground clearance detection module 30 includes an acceleration detection component, which is installed on the walking wheel assembly 21. By installing the acceleration detection component on the walking wheel assembly 21, the acceleration detection component can swing together with the walking wheel assembly 21. The acceleration detection component detects the change in acceleration of the walking wheel assembly 21 when it swings downward, detects the ground clearance of the walking wheel assembly 21, and outputs a corresponding ground clearance signal.

[0064] In one specific embodiment, the acceleration detection component provided in this embodiment is installed on the walking wheel assembly 21. Since the acceleration due to gravity is constant and its direction is always vertically downward, when the walking wheel assembly 21 is in the ground-contact state, the component of the acceleration due to gravity in a specific direction measured by the acceleration detection component is a relatively fixed value. At this time, the electrical signal output by the acceleration detection component is the ground-contact signal. When the walking wheel assembly 21 switches to the off-ground state, the walking wheel assembly 21 will swing downward, and the acceleration detection component will detect a downward acceleration peak. At this time, the electrical signal output by the acceleration detection component is the off-ground signal.

[0065] In one optional embodiment, the acceleration detection component provided in this embodiment is an acceleration sensor.

[0066] In another embodiment, the ground clearance detection module 30 includes a radio frequency tag (RFID) component and a radio frequency read / write component. When the wheel assembly 21 is off the ground, communication between the RFID component and the radio frequency read / write component is interrupted. By setting the communication between the RFID component and the radio frequency read / write component to be interrupted when the wheel assembly 21 is off the ground, the radio frequency read / write component provided in this embodiment can detect the ground clearance of the wheel assembly 21 through changes in the communication state with the RFID component and output a corresponding ground clearance signal.

[0067] In one specific embodiment, the wireless radio frequency reading and writing component provided in this embodiment is located at an off-ground detection position. The off-ground detection position provided in this embodiment refers to any position located on the device body 11 or the limiting bracket 12, which enables the wireless radio frequency reading and writing component to establish communication with the wireless radio frequency tag component when the walking wheel component 21 is in the ground-contact state, and to interrupt communication with the wireless radio frequency tag component when the walking wheel component 21 is off-ground.

[0068] In one specific embodiment, the RFID tag assembly provided in this embodiment is installed on one of the walking wheel assembly 21, the device body 11, and the limiting bracket 12. The RFID reader / writer assembly is installed at the ground-free detection position. When the walking wheel assembly 21 is in the ground-contact state, the positions of the walking wheel assembly 21 and the limiting bracket 12 are relatively fixed, and the RFID tag assembly and the RFID reader / writer assembly maintain a relatively fixed distance and positional relationship. At this time, the RFID reader / writer assembly establishes communication with the RFID tag assembly and outputs a corresponding electrical signal. The electrical signal output by the RFID reader / writer assembly at this time is the ground-contact signal. When the walking wheel assembly 21 switches to the ground-free state, the walking wheel assembly 21 will swing downward and move between the RFID reader / writer assembly and the RFID tag assembly, causing the communication between the RFID reader / writer assembly and the RFID tag assembly to be interrupted. After detecting the communication interruption with the RFID tag assembly, the RFID reader / writer assembly will output another corresponding electrical signal. At this time, the electrical signal output by the RFID reader / writer assembly is the ground-free signal.

[0069] In one optional embodiment, the wireless radio frequency read / write component provided in this embodiment is installed on the device body 11, and the wireless radio frequency tag component is installed on the inner sidewall of the limiting hole 123 on the side opposite to the device body 11.

[0070] In one optional embodiment, the wireless radio frequency tag component provided in this embodiment is a radio frequency identification tag.

[0071] In one optional embodiment, the wireless radio frequency read / write component provided in this embodiment is a radio frequency identification reader.

[0072] In one specific embodiment, the ground clearance detection module 30 includes a contact switch assembly, which is mounted on the limiting bracket 12 or the device body 11. The contact switch assembly detects the ground clearance of the walking wheel assembly 21 by cooperating with it. By mounting the contact switch assembly on the limiting bracket 12 or the device body 11, the relative position between the walking wheel assembly 21 and the contact switch assembly can change as the walking wheel assembly 21 swings, thereby changing the contact state between the walking wheel assembly 21 and the contact switch assembly. The contact switch assembly detects whether the walking wheel assembly 21 is off the ground by detecting the change in the contact state with the walking wheel assembly 21 and outputs a corresponding ground clearance signal or ground contact signal.

[0073] In one specific embodiment, the contact switch assembly provided in this embodiment is installed on the limiting bracket 12 or the device body 11 and is located above the walking wheel assembly 21. When the walking wheel assembly 21 is in the ground contact state, the position of the walking wheel assembly 21 and the limiting bracket 12 or the device body 11 is relatively fixed and presses against the trigger end of the contact switch assembly. At this time, the contact switch assembly is triggered by the walking wheel assembly 21 and outputs a corresponding electrical signal. At this time, the electrical signal output by the contact switch assembly is the ground contact signal. When the walking wheel assembly 21 switches to the off-ground state, the walking wheel assembly 21 will swing towards the bottom of the device body 11, causing the walking wheel assembly 21 to separate from the trigger end of the contact switch assembly. The electrical signal output by the contact switch assembly also changes accordingly. At this time, the electrical signal output by the contact switch assembly is the off-ground signal.

[0074] In one specific embodiment, the contact switch assembly provided in this embodiment is installed on the inner sidewall of the limiting hole 123 near the device body 11.

[0075] In another embodiment, the contact switch assembly provided in this embodiment is installed on the limiting bracket 12 and located below the walking wheel assembly 21. When the walking wheel assembly 21 is in the ground-contact state, the position of the walking wheel assembly 21 relative to the limiting bracket 12 or the equipment body 11 is fixed, and it avoids the trigger end of the contact switch assembly. At this time, the contact switch assembly is not triggered and outputs the corresponding electrical signal. At this time, the electrical signal output by the contact switch assembly is the ground-contact signal. When the walking wheel assembly 21 switches to the off-ground state, the walking wheel assembly 21 will swing towards the bottom of the equipment body 11 and press against the trigger end of the contact switch assembly. At this time, the contact switch assembly is triggered by the walking wheel assembly 21, and the electrical signal output by the contact switch assembly also changes accordingly. At this time, the electrical signal output by the contact switch assembly is the off-ground signal.

[0076] In another embodiment, the contact switch assembly provided in this embodiment is installed on the inner sidewall of the limiting hole 123 on the side opposite to the device body 11.

[0077] In one optional embodiment, the walking wheel assembly 21 provided in this embodiment is provided with a pressing protrusion. The pressing protrusion provided in this embodiment corresponds to the position of the contact switch assembly and is used to press against the trigger end of the contact switch assembly.

[0078] In one optional embodiment, the contact switch assembly provided in this embodiment is a mechanical contact switch.

[0079] In one specific embodiment, the mobile robot further includes a control module and a mowing module. The control module is used to control the mowing module to stop working after receiving a ground-lift signal. When the ground-lift detection module 30 detects that the walking wheel assembly 21 has lifted off the ground and outputs a ground-lift signal, the control module can receive the signal in real time and quickly control the mowing module to stop working. This avoids the safety hazards caused by the mowing module continuing to operate when the walking wheel assembly 21 has lifted off the ground, ensuring the safety and reliability of the mobile robot in complex terrain.

[0080] In one specific embodiment, the control module provided in this embodiment is installed on the device body 11 and electrically connected to the walking wheel assembly 21, the ground clearance detection module 30 and the mowing module. It is used to receive the ground clearance signal and control the operation of the walking wheel assembly 21 and the mowing module according to the ground clearance signal. For example, after receiving the ground clearance signal, it controls the walking wheel assembly 21 to stop working.

[0081] In one optional embodiment, the mowing module provided in this embodiment is installed on the device body 11 and is used to cut materials on the working surface.

[0082] In one optional embodiment, the mobile robot provided in this embodiment further includes a recycling module. The recycling module provided in this embodiment is installed on the device body 11 and is connected to the lawn mowing module for recycling the material cut by the lawn mowing module.

[0083] In an optional embodiment, the mobile robot provided in this embodiment further includes a power supply module. The power supply module provided in this embodiment is installed on the main body of the device and is electrically connected to the walking wheel assembly 21, the ground clearance detection module 30, the control module and the mowing module, and is used to supply power to the walking wheel assembly 21, the ground clearance detection module 30, the control module and the mowing module.

[0084] In an optional embodiment, the mobile robot provided in this embodiment further includes two driven wheel assemblies 22, which are arranged on opposite sides of the main body of the device in a first direction, and the driven wheel assemblies 22 and the walking wheel assembly 21 are spaced apart along a second direction.

[0085] In summary, implementing the mobile robot provided in this embodiment has at least the following beneficial technical effects:

[0086] The mobile robot provided in this embodiment has two walking wheel assemblies 21 pivotally connected to the pivot shaft 13 at the bottom of the device body 11, and a ground clearance detection module 30 is set between the walking wheel assemblies 21 and the device body 11 to detect the ground clearance of the walking wheel assemblies 21. This improves the mobile robot's adaptability to complex terrain and its operational safety. At the same time, since the two walking wheel assemblies 21 are pivotally connected to the same pivot shaft 13, the two walking wheel assemblies 21 have the same pivot shaft 13 line. At this time, the two walking wheel assemblies 21 can have the same or mirrored motion trajectory, thereby reducing the difficulty of arranging and calibrating the ground clearance detection module 30. Furthermore, setting the two walking wheel assemblies 21 to have the same pivot shaft 13 line can also simplify the structure of the mobile robot, giving the mobile robot a more uniform weight distribution and better balance, while also reducing the maintenance cost of the mobile robot.

[0087] The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A mobile robot, characterized in that, The mobile robot includes: The device body (11) has a pivot shaft (13) at its bottom; Two walking wheel assemblies (21) are located on opposite sides of the device body (11) and are respectively pivotally connected to the pivot shaft (13). When the walking wheel assembly (21) is off the ground, the walking wheel assembly (21) can swing around the pivot shaft (13). Ground clearance detection module (30) is disposed between the device body (11) and the walking wheel assembly (21) for detecting the ground clearance of the walking wheel assembly (21) and outputting a ground clearance signal.

2. The mobile robot according to claim 1, characterized in that, The bottom of the device body (11) is provided with a limiting bracket (12), and the limiting bracket (12) is provided with a limiting hole (123). The walking wheel assembly (21) passes through the limiting hole (123) and is pivotally connected to the pivot shaft (13). The walking wheel assembly (21) and the limiting hole (123) are in clearance fit.

3. The mobile robot according to claim 2, characterized in that, The limiting bracket (12) includes a first bracket (121) and a second bracket (122). The first bracket (121) is installed on the device body (11), and the second bracket (122) is installed on the first bracket (121). The first bracket (121) is provided with a first limiting recess (1211), and the second bracket (122) is provided with a second limiting recess (1221). The first limiting recess (1211) and the second limiting recess (1221) together form the limiting hole (123).

4. The mobile robot according to claim 2, characterized in that, The walking wheel assembly (21) includes a sleeve (213), a drive motor (212), and a walking wheel body (211). The sleeve (213) passes through the limiting hole (123) and is pivotally connected to the pivot shaft (13). The drive motor (212) is installed inside the sleeve (213). The output end of the drive motor (212) extends outside the sleeve (213) and is drivenly connected to the walking wheel body (211).

5. The mobile robot according to claim 4, characterized in that, One of the two wheel assemblies (21) has a first rotating portion in its sleeve (213), and the other wheel assembly (21) has a second rotating portion in its sleeve (213). The first rotating portion and the second rotating portion are respectively pivotally connected to the pivot shaft (13). The first rotating portion has a clearance recess, and the second rotating portion extends into the clearance recess.

6. The mobile robot according to claim 5, characterized in that, The mobile robot also includes an elastic element located between the two walking wheel assemblies (21) for applying a force away from the device body (11) to the walking wheel assembly (21).

7. The mobile robot according to claim 6, characterized in that, The elastic element includes a tension spring, and a hanging piece is provided on the side of the sleeve (213) opposite to the equipment body (11). The two ends of the tension spring are respectively connected to the hanging pieces of the two walking wheel assemblies (21).

8. The mobile robot according to claim 6, characterized in that, The bottom of the device body (11) is provided with a U-shaped connector (14), the open end of the U-shaped connector (14) is located on the side away from the device body (11), and the pivot shaft (13) is installed at the open end.

9. The mobile robot according to claim 2, characterized in that, The ground clearance detection module (30) includes a magnet and a Hall sensor. One of the magnet and the Hall sensor is disposed at the end of the walking wheel assembly (21) away from the pivot shaft (13), and the other of the magnet and the Hall sensor is disposed on the limiting bracket (12). When the walking wheel assembly (21) is off the ground, the distance between the magnet and the Hall sensor increases. Alternatively, the ground clearance detection module (30) includes a pressure sensor, which is disposed in the limiting hole (123). When the walking wheel assembly (21) is off the ground, the walking wheel assembly (21) separates from the pressure sensor. Alternatively, the ground clearance detection module (30) includes a photoelectric emitting component (31) and a photoelectric receiving component (32). The photoelectric emitting component (31) and the photoelectric receiving component (32) are respectively installed on the two walking wheel assemblies (21). When the walking wheel assembly (21) is off the ground, the photoelectric emitting component (31) and the photoelectric receiving component (32) are misaligned. Alternatively, the ground clearance detection module (30) includes an acceleration detection component, which is mounted on the walking wheel assembly (21); Alternatively, the ground-lift detection module (30) includes a radio frequency tag component and a radio frequency read / write component. When the walking wheel component (21) is off the ground, the communication between the radio frequency tag component and the radio frequency read / write component is interrupted.

10. The mobile robot according to claim 1, characterized in that, The mobile robot also includes a control module and a mowing module. The control module is used to control the mowing module to stop working after receiving the off-ground signal.

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