Outdoor work vehicle

Abstract

The utility model relates to the field of gardening tools, in particular to an outdoor operation vehicle. The outdoor working vehicle comprises a vehicle connecting frame; the battery compartment is fixed to the frame, and the battery compartment is configured to contain a battery pack; the covering part at least covers a part of the frame; at least one of the battery compartment and the covering part has an outer contour structure with a non-zero curvature; the detection assembly is used for detecting position information of the outdoor operation vehicle and / or surrounding environment information; and the connecting assembly can connect the detection assembly to the outer contour structure, and at least part of the connecting assembly is matched with the outer contour structure in shape. According to the outdoor operation vehicle, by arranging the connecting assembly matched with the outer contour structure of the battery bin of the vehicle and the outer contour structure of the covering part, the detection assembly is fixedly connected to the vehicle, and the detection assembly can be stably installed and fixed.

Description

[Technical Field]

[0001] This utility model relates to the field of garden tools, and in particular to an outdoor work vehicle. [Background Technology]

[0002] Traditional outdoor work vehicles use connecting components installed at different locations on the vehicle, and then detection components installed on these connecting components. These detection components detect the surrounding environment of the vehicle to support autonomous driving in the work area.

[0003] However, since the outer contour structure varies at different locations on the vehicle body, if the connecting components are not installed properly when selecting the outer contour structure at different locations on the vehicle, the installation of the connecting components may not be stable enough, which in turn may cause the installation of the detection components to be unstable, thus affecting the range and accuracy of the vehicle's detection of the surrounding environment while it is moving. [Utility Model Content]

[0004] In view of the shortcomings of the existing technology, the purpose of this utility model is to provide an outdoor operation vehicle that can stably install the detection component.

[0005] The technical solution adopted by this utility model to solve the problem of the prior art is: an outdoor work vehicle, comprising:

[0006] Frame;

[0007] A battery compartment, fixed to the vehicle frame, is configured to house a battery pack;

[0008] A cover, at least covering a portion of the vehicle frame;

[0009] At least one of the battery compartment and the cover has an outer contour structure with non-zero curvature;

[0010] A detection component is used to detect the location information and / or surrounding environmental information of the outdoor work vehicle;

[0011] A connecting component is provided to connect the detection component to the outer contour structure, wherein the connecting component is at least partially adapted to the shape of the outer contour structure.

[0012] In some embodiments, the outer contour structure includes at least a first contour surface and a second contour surface with different heights, and in the horizontal direction, the connecting component includes a first connector, the first connector including at least a first adapter surface and a second adapter surface with different heights;

[0013] When the first connector is installed on the outer contour structure, the first contour surface and the first adapter surface are spatially correspondingly arranged, and the second contour surface and the second adapter surface are spatially correspondingly arranged.

[0014] In some embodiments, the cover includes a left cover located on the left side of the frame and a right cover located on the right side of the frame. In the horizontal direction, both the left cover and the right cover include a first profile surface and a second profile surface with different heights.

[0015] In some embodiments, the connection component includes a first connector and a second connector, both of which are provided with connection positions for connecting the detection component. The first connector and its connection positions are at a preset angle, and the second connector and its connection positions are at a preset angle.

[0016] In some embodiments, the connection position of the first connector or the connection position of the second connector is configured to accommodate a hollow structure in which the detection component is fixed.

[0017] In some embodiments, multiple detection components are provided, and the height difference between two adjacent detection components in the vertical direction is 5mm to 12mm.

[0018] In some embodiments, the detection component includes one or more of an ultrasonic sensor, a visual sensor, and a lidar.

[0019] This application also provides an outdoor work vehicle, including:

[0020] Frame;

[0021] The battery compartment is located at the rear of the vehicle frame;

[0022] A cover, including a left cover and a right cover, the left cover and the right cover covering at least a portion of the vehicle frame;

[0023] At least one of the battery compartment, the left cover, and the right cover has an outer contour structure with non-zero curvature;

[0024] At least two detection components are used to detect environmental information around the outdoor work vehicle;

[0025] A connection component is provided to connect the detection component to the outdoor work vehicle. The connection component includes multiple connectors, at least one of which is adapted to the shape of the outer contour structure.

[0026] In some embodiments, the connection component includes a first connector and a second connector, both of which are provided with connection positions for connecting the detection component. The first connector and its connection positions are at a preset angle, and the second connector and its connection positions are at a preset angle.

[0027] In some embodiments, the first connector includes a first mounting bracket and a second mounting bracket connected to each other, the detection component being detachably mounted on the first mounting bracket and the second mounting bracket being fixed to the vehicle frame.

[0028] This application also provides an outdoor work vehicle, including:

[0029] Frame;

[0030] A cover, at least covering a portion of the vehicle frame, the cover having an outer contour structure with non-zero curvature;

[0031] A detection component is used to detect the location information and / or surrounding environmental information of the outdoor work vehicle;

[0032] A connecting component is provided to connect the detection component to the outer contour structure, wherein the connecting component is at least partially adapted to the shape of the outer contour structure.

[0033] In one or more embodiments, the outer contour structure includes at least different first contour surfaces and second contour surfaces. In the horizontal direction, the connecting component includes a first connector, which includes at least a first adapter surface and a second adapter surface with different heights. When the first connector is installed on the outer contour structure, the first contour surface and the first adapter surface are spatially corresponding, and the second contour surface and the second adapter surface are spatially corresponding.

[0034] Compared with the prior art, the present invention has the following beneficial effects:

[0035] This application uses a connecting component that is adapted to the outer contour structure of the vehicle's battery compartment and the outer contour structure of the cover to install on the outer contour of the vehicle, so that the connecting component can be stably installed on the outer contour of the vehicle, and then the detection component is connected to the connecting component, thereby enabling the detection component to be stably connected and installed on the vehicle. [Image Description]

[0036] The specific embodiments of this application will be described in further detail below with reference to the accompanying drawings:

[0037] Figure 1 This is a 3D structural diagram of existing outdoor work vehicles;

[0038] Figure 2 This is a structural diagram of an existing outdoor work vehicle after holes are drilled in the frame, left cover, right cover, and tail cover (to determine the installation position);

[0039] Figure 3 This is a structural diagram of an existing outdoor work vehicle from another angle after holes have been made in the frame, left cover, right cover, and tail cover (to determine the installation position);

[0040] Figure 4 This is a structural diagram of an existing outdoor work vehicle after the connecting components are installed on the frame, left cover, right cover and tail cover;

[0041] Figure 5 This is a schematic diagram of the structure of an existing outdoor work vehicle after the detection components are installed on the frame, left cover, right cover and tail cover;

[0042] Figure 6 This is a three-dimensional structural diagram of the outdoor operation vehicle in this application;

[0043] Figure 7 This is a schematic diagram of the front view structure of the outdoor operation vehicle in this application;

[0044] Figure 8 This is a schematic diagram of the left-side structure of the outdoor work vehicle in this application;

[0045] Figure 9 This is a schematic diagram of the right-side structure of the outdoor operation vehicle in this application;

[0046] Figure 10 This application contains a schematic diagram of the full-angle coverage structure of the ultrasonic sensor for outdoor work vehicles.

[0047] Figure 11 This application contains a schematic diagram of the full-angle coverage structure of the vision sensor for outdoor work vehicles.

[0048] Figure 12 This is a logic block diagram showing the control between the various sensors on the outdoor work vehicle and the vehicle in this application.

[0049] Figure 13 This is a structural schematic diagram showing the installation angle and height of some sensors on the outdoor operation vehicle in this application;

[0050] Figure 14 This is a structural schematic diagram showing the installation angle and height of another part of the sensors on the outdoor operation vehicle in this application;

[0051] Figure 15 This is a schematic diagram of the periscope structure on the outdoor work vehicle in this application;

[0052] Figure 16This is a schematic diagram of the collision detection device on the outdoor work vehicle in this application;

[0053] Figure 17 This is a schematic diagram showing the positional relationship between three adjacent sensors on one side of the outdoor work vehicle (front, rear, left, right).

[0054] Figure 18 This is a schematic diagram showing the positional relationship between the vision sensor on the outdoor work vehicle and the vehicle's direction of travel in this application;

[0055] Figure 19 This is a schematic diagram of the structure in this application showing how the ultrasonic sensor on the outdoor work vehicle is connected to the frame and cover via a connecting assembly;

[0056] Figure 20 This is a schematic diagram of the front structure of the outdoor work vehicle in this application;

[0057] Figure 21 This is a structural schematic diagram of the front of the outdoor work vehicle in this application from another angle;

[0058] Figure 22 This is a schematic diagram of the structure in which the annular mounting base and the cover are fitted together on the outdoor work vehicle in this application;

[0059] Figure 23 This is a partial enlarged view of the opening location of the cover on the outdoor work vehicle in this application;

[0060] Figure 24 This is a schematic diagram of the structure of the annular mounting bracket on the outdoor work vehicle in this application;

[0061] Figure 25 This is a schematic diagram of the structure of the outdoor work vehicle's cover and fixture after they are attached in this application;

[0062] Figure 26 This is a structural schematic diagram of the cover of the outdoor work vehicle in this application, showing the marked points;

[0063] Figure 27 This is a schematic diagram of the structure of the cover on the outdoor work vehicle in this application after the holes have been opened;

[0064] Figure 28 This is a schematic diagram of the structure of the connecting components and sensors installed on the cover of the outdoor operation vehicle in this application;

[0065] Figure 29 This is a schematic diagram showing at least partial overlap of the sensors at the rear of the outdoor work vehicle in this application;

[0066] Figure 30 This is a schematic diagram showing the connection between multiple ultrasonic sensors and an ultrasonic controller of the outdoor operation vehicle in this application;

[0067] Figure 31 This is a schematic diagram of the sensor installation structure on the push lawnmower in this application;

[0068] Figure 32 This is a schematic diagram of the structure of the all-terrain vehicle with sensors installed in this application. [Detailed Implementation]

[0069] The terminology used in this application is for the purpose of describing specific embodiments only and is not intended to limit the application. For example, terms such as "left," "right," "front," and "rear" that indicate orientation or positional relationship are based solely on the orientation or positional relationship shown in the accompanying drawings and are used only for the convenience of describing the application and simplifying the description, and are not intended to indicate or imply that the device referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the application.

[0070] Please see Figure 1 The image shows a conventional outdoor work vehicle in some embodiments disclosed in this application, including a frame 1, an operating component 2, a seat 3, a work component 4, a walking component 5, and an energy source system 6.

[0071] The frame 1 extends along a straight line, and the operating components 2, seat 3, work components 4, walking components 5, energy source system 6 and cover are located at different positions on the frame 1.

[0072] The operating component 2 includes a left operating lever 201 located on the left side of the existing outdoor work vehicle and a right operating lever 202 located on the right side. Operators control the existing outdoor work vehicle to move forward, backward, or turn by manipulating the left and right operating levers 201 and 202. The operating component 2 can also be a steering wheel that controls the existing outdoor work vehicle.

[0073] The seat 3 is mounted on the frame 1, and the left control lever 201 and the right control lever 202 are positioned close to the seat 3 and located on the left and right sides of the seat 3 respectively, so that the operator sitting on the seat 3 can control the operation of the existing outdoor work vehicle by operating the left control lever 201 and the right control lever 202.

[0074] The working component 4 serves as the workpiece that realizes the tool function. In one embodiment, the existing outdoor work vehicle is specifically a ride-on lawnmower, and the working component 4 is specifically a cutting component, which is located below the frame 1. It is used to output power to realize the mowing function of the ride-on lawnmower.

[0075] In some embodiments, the cutting assembly includes a blade disc, a mowing element, and a cutting motor. The work assembly 4 can also be detached from existing outdoor work vehicles. It is understood that the work assembly 4 can be replaced with other components to meet the usage requirements of different landscaping operations. When the cutting assembly is replaced with functional components such as snow shovels, snow sweepers, or snow blowers, the energy source system 6 of the existing outdoor work vehicle of this application can also power the aforementioned snow shovels, snow sweepers, and snow blowers.

[0076] The walking assembly 5 includes walking wheels mounted on the frame 1 and a walking motor 504 for driving the walking wheels. The walking wheels are located on both sides of the frame 1, so that the center of gravity of the existing outdoor work vehicle is kept within the frame 1, thereby reducing the probability of the existing outdoor work vehicle overturning when walking.

[0077] In one embodiment, the number of traveling wheels is set to four, including two front traveling wheels and two rear traveling wheels. The front traveling wheels can be omnidirectional wheels. The traveling motor 504 is connected to the rear traveling wheels to drive the rear traveling wheels to rotate. Both rear traveling wheels are matched with the traveling motor 504.

[0078] The energy source system 6 is located at the rear of the vehicle frame 1. The energy source system 6 includes multiple battery packs, a power management device 603 configured to uniformly integrate and control the charging and discharging processes of the multiple battery packs, and a battery compartment 601 for mounting the multiple battery packs. In some embodiments, a tail cover 602 may also be provided on the battery compartment 601.

[0079] The existing outdoor work vehicles in this application also include at least a cover covering the frame, the cover including a left cover 7 located on the left side of the vehicle and a right cover 8 located on the right side of the vehicle.

[0080] like Figure 1 , Figure 2 and Figure 4 As shown, in some embodiments, this application also provides an upgrade system for existing outdoor work vehicles. The upgrade system is at least used to upgrade existing outdoor work vehicles that do not have or do not fully have automatic operation functions to intelligent outdoor work vehicles with fully automatic operation functions. The existing outdoor work vehicle includes: a frame 1; a cover covering at least a portion of the frame 1; a walking assembly 5 configured to support the existing outdoor work vehicle to walk; an operation assembly 4 configured to perform outdoor operations; an energy source system 6 configured to provide a power source for the existing outdoor work vehicle, the energy source system 6 including a battery compartment 601; and a vehicle controller 33 configured to control the existing outdoor work vehicle to walk in a predetermined direction and / or perform outdoor operations.

[0081] like Figure 4 and Figure 12As shown, the upgrade system includes: a connection component, disposed at least one of the frame 1, the cover, and the battery compartment 601; a detection component, disposed on the connection component, configured to detect the location information of the intelligent outdoor work vehicle and / or the environmental information around the vehicle; a computing power main control module 31, signal-connected to the vehicle controller 33 and the signal-connected detection component, the computing power main control module 31 being used at least to enable the intelligent outdoor work vehicle to avoid obstacles during driving; the detection component includes a first type of detection component and a second type of detection component, the computing power main control module 31 acquiring the location information of the intelligent outdoor work vehicle and / or the surrounding environmental information based on the first type of detection component and generating a signal indicating the presence or absence of obstacles around the vehicle, the second type of detection component generating a signal indicating the presence or absence of obstacles around the vehicle based on its perception of the environment around the intelligent outdoor work vehicle; both the computing power main control module 31 and the second type of detection component send a signal indicating the presence or absence of obstacles around the intelligent outdoor work vehicle to the vehicle controller 33, the vehicle controller 33 controlling the walking component 5 and / or the working component 4 to change the output power or stop the operation based on the signal indicating the presence or absence of obstacles.

[0082] In this application, the detection information of the first type of detection components is processed by the computing power main control module 31 and then transmitted to the vehicle controller 33 for processing. In addition, the detection information of the second type of detection components is directly transmitted to the vehicle controller 33, realizing differentiated information processing for different types of detection components according to their respective functional attributes.

[0083] In some embodiments, the second type of detection unit includes an ultrasonic transmitter of an ultrasonic sensor 18, and the second type of detection controller includes an ultrasonic controller 181 that receives information from the ultrasonic transmitter.

[0084] like Figure 12 In some embodiments, the operating component 4 is a cutting unit, which includes a cutter motor 402 and a cutter controller 401 that controls the operation of the cutter motor 402. The vehicle controller 33 transmits the detection information from the detection component to the cutter controller 401, which then controls the operation of the cutter motor 402. In some embodiments, the cutter controller 401 receives power from the power management device 603.

[0085] like Figure 12 In some embodiments, the walking assembly 5 further includes a walking controller 503 and a walking motor 504. The vehicle controller 33 transmits the detection information from the detection assembly to the walking controller 503, which then controls the operation of the walking motor 504. In some embodiments, the walking controller 503 receives power from the power management device 603.

[0086] like Figure 4As shown, in some embodiments, the computing power control module 31 is located between the seat 3 and the battery compartment 601 of the intelligent outdoor work vehicle; and / or, the computing power control module 31 is located above the seat 3 of the intelligent outdoor work vehicle.

[0087] like Figure 1 and Figure 6 As shown, it should be noted that the intelligent outdoor work vehicle in this embodiment is obtained by upgrading an existing outdoor work vehicle. Therefore, the components on both vehicles, such as the frame 1, operating component 2, seat 3, working component 4, walking component 5, energy source system 6, and coverings (including left cover 7, right cover 8, battery compartment 601, and tail cover 602), are identical. Only a few components may have openings or other mounting positions due to installation requirements; the essential functions remain unchanged. Therefore, no distinguishing marks are made in the accompanying drawings relating to the above-mentioned components on the existing outdoor work vehicle and the intelligent outdoor work vehicle.

[0088] like Figure 3 As shown, in some embodiments, the frame 1 and / or the cover are provided with a plurality of mounting positions with a preset height. In some embodiments, the plurality of mounting positions are formed by at least one of a first mounting hole 9, a second mounting hole 10, and a third mounting hole 11. Of course, the mounting positions are not limited to hole mechanisms, but can also be groove structures or other structures that can meet the mounting requirements of the sensor.

[0089] like Figure 4 and Figure 5 As shown, in some embodiments, the connecting component includes a first connector and a second connector, both of which can be installed at a preset height in multiple mounting positions.

[0090] like Figures 5 to 9 As shown, in some embodiments, the detection component includes multiple first sensors and multiple second sensors. The multiple first sensors and multiple second sensors can be disposed on a first connector or a second connector having a preset height. The multiple first sensors and multiple second sensors have preset detection height and detection angle.

[0091] like Figure 10 As shown, in some embodiments, the combined detection range of the multiple first sensors provides full-angle coverage around the existing outdoor work vehicle. The first sensor is an ultrasonic sensor 18.

[0092] In some embodiments, the detection ranges of any two adjacent sensors among the plurality of first sensors and the plurality of second sensors at least partially overlap.

[0093] like Figure 13As shown, in some embodiments, the detection direction of the first sensor is set at a first preset angle relative to the horizontal plane, and the detection direction of the second sensor is set at a second preset angle relative to the horizontal plane. In some embodiments, the range of the first preset angle is 10° to 20°, and in some embodiments, the first preset angle is 10°, 15°, and 20°. The range of the second preset angle is -15° to 5°, and in some embodiments, the second preset angle is -15°, -11°, -9°, 0°, or 5°.

[0094] like Figure 13 As shown, in some embodiments, the height range of the first sensor installation is 250mm to 280mm, and the height range of the second sensor installation is 400mm to 680mm. In some embodiments, the first sensor includes an ultrasonic sensor 18, and the second sensor includes a monocular camera 19, a multi-view camera, or a depth camera. The multi-view camera can be a binocular camera 20 or a tri-view camera.

[0095] Please combine Figure 6 , Figure 8 and Figure 13 In some embodiments, the first sensor is an ultrasonic sensor 18. In this application, three ultrasonic sensors 18 are provided on the front side of existing outdoor work vehicles. The installation height H1 of the three ultrasonic sensors 18 is 373mm and the installation angle α1 relative to the horizontal plane is 15°.

[0096] Please combine Figure 7 and Figure 13 The intelligent outdoor operation vehicle is equipped with three ultrasonic sensors 18 on both the left and right sides. The installation height H2 of the three ultrasonic sensors 18 on the left side of the existing outdoor operation vehicle is 373mm and the installation angle α2 relative to the horizontal plane is 15°. The installation height H2 of the three ultrasonic sensors 18 on the right side of the existing outdoor operation vehicle is 373mm and the installation angle α2 relative to the horizontal plane is 15°.

[0097] Please combine Figure 9 and Figure 14 The intelligent outdoor operation vehicle is equipped with four ultrasonic sensors 18 at the rear. The height H3 of the four ultrasonic sensors 18 is 346.8 mm and the installation angle α3 relative to the horizontal plane is 15°.

[0098] like Figure 10 As shown above, the intelligent outdoor work vehicle is equipped with a total of 13 ultrasonic sensors 18 on the front, left, right and rear sides. Among the 13 ultrasonic sensors 18, the detection range of any two adjacent ultrasonic sensors 18 overlaps at least partially, so as to achieve full-angle coverage of the existing outdoor work vehicle by the combination of 13 ultrasonic sensors 18.

[0099] It's important to understand that, relative to the horizontal plane, the preset upward angle is a positive value, and the preset downward angle is a negative value. The following angle descriptions also apply.

[0100] like Figure 13 As shown, in some embodiments, the second sensor is a vision sensor. A vision sensor is installed on the front side of the intelligent outdoor work vehicle. The installation height H4 of this vision sensor is 585mm, and the angle α4 relative to the horizontal plane is 0°.

[0101] like Figure 14 As shown, one vision sensor is installed on the left and one on the right of the existing outdoor work vehicle. The installation height H5 of the vision sensor on the left side of the intelligent outdoor work vehicle is 640mm and the installation angle α5 relative to the horizontal plane is -11°. The installation height H5 of the vision sensor on the right side of the intelligent outdoor work vehicle is 640mm and the installation angle α5 relative to the horizontal plane is -11°.

[0102] like Figure 9 and Figure 14 Two vision sensors are installed at the rear of the existing outdoor work vehicle. The installation height H6 of these two vision sensors is 475mm, and the angle α6 relative to the horizontal plane is -9°.

[0103] like Figure 13 As shown, in some embodiments, in the direction of travel of the intelligent outdoor work vehicle of this application, the arrangement of one visual sensor located at the front of the intelligent outdoor work vehicle is as follows: it is set directly in front of the intelligent outdoor work vehicle, and the angle between it and the direction of travel of the intelligent outdoor work vehicle is 0°.

[0104] Combination Figure 11 and Figure 18 The angle α7 between the visual sensors located on the left and right sides of the intelligent outdoor work vehicle and the direction of travel of the existing outdoor work vehicle is in the range of 60° to 70°. In some embodiments, the angle α7 between the visual sensors located on the left and right sides of the intelligent outdoor work vehicle and the direction of travel of the intelligent outdoor work vehicle is 60°, 64° or 70°.

[0105] Combination Figure 11 and Figure 18 The angle α8 between the two visual sensors located at the rear of the intelligent outdoor work vehicle and the direction of travel of the intelligent outdoor work vehicle ranges from 25° to 35°. In some embodiments, the angle α8 between the two visual sensors located at the rear of the intelligent outdoor work vehicle and the direction of travel of the intelligent outdoor work vehicle is 25°, 30°, or 35°.

[0106] like Figure 6 and Figure 11 As shown, the upgraded system of this application further includes one monocular camera 19 located at the front of the vehicle, one binocular camera 20 on each of the left and right sides of the existing outdoor work vehicle, and two monocular cameras 19 located at the rear of the intelligent outdoor work vehicle.

[0107] In some embodiments, the third sensor is positioned at a third preset angle relative to the horizontal plane. In some embodiments, the third sensor is a lidar 21.

[0108] like Figure 13 In some embodiments, the third preset angle α9 of the lidar 21 relative to the horizontal plane ranges from 0° to 5°. In some embodiments, the third preset angle α9 of the lidar 21 relative to the horizontal plane is 0°, 3°, or 5°.

[0109] like Figure 13 In some embodiments, the installation height H7 of the lidar 21 is 615mm to 635mm. In other embodiments, the installation height H7 of the lidar 21 is 615mm, 625mm or 635mm.

[0110] like Figure 6 , Figure 8 and Figure 9 As shown, in some embodiments, the existing outdoor work vehicles of this application can also utilize the RTK system 32 for location positioning. The RTK system 32 includes a satellite positioning receiving antenna 22, a satellite positioning mobile station, and an RTK base station. The satellite positioning receiving antenna 22 and the satellite positioning mobile station are used to be installed on a mobile work vehicle, while the RTK base station is used to be fixed at a certain location in the work area.

[0111] like Figure 6 and Figure 7 As shown, in some embodiments, two satellite positioning receiving antennas 22 are provided, and the distance between the two satellite positioning receiving antennas 22 ranges from 260mm to 1300mm. In some embodiments, the distance between the two satellite positioning receiving antennas 22 is 260mm, 380mm, or 1300mm. In some embodiments, the height between the two satellite positioning receiving antennas 22 is different.

[0112] like Figure 8 As shown, in some embodiments, the two satellite positioning receiving antennas 22 are not collinear, either parallel or perpendicular to the travel direction of the existing outdoor work vehicle. The satellite positioning receiving antenna 22 can be installed on the front, rear, or other suitable locations of the existing outdoor work vehicle. Furthermore, the satellite positioning receiving antenna 22 can be directly installed on the frame 1, the seat 3, or the battery compartment 601.

[0113] like Figure 12As shown, in some embodiments, the upgrade system of this application further includes an IMU sensor. The IMU sensor, with the aid of a built-in accelerometer and gyroscope, can measure linear acceleration and rotational angular rate from three directions, and calculate information such as the carrier's attitude, velocity, and displacement. This acquired information is then processed by the computing power control module 31 and transmitted to the vehicle controller 33 (VCU). The vehicle controller 33 (VCU) then controls the operation of the walking component 5 and the working component 4 based on the information processed by the computing power control module 31. For example, it controls the vehicle to decelerate or stop, and controls the working component 4 to reduce power or stop operation.

[0114] like Figure 12 As shown, in some embodiments, the upgraded system of this application further includes an Odo sensor. The Odo sensor calculates the mileage of the outdoor work vehicle and transmits the corresponding information to the vehicle controller 33 (VCU) after processing by the computing power main control module 31. The vehicle controller 33 (VCU) then controls the operation of the walking component 5 and the work component 4 based on the information processed by the computing power main control module 31. For example, it controls the vehicle to decelerate, turn, and make U-turns, and controls the work component 4 to reduce power or stop operating.

[0115] like Figures 2 to 6 As shown, this application also discloses an upgrade method for outdoor work vehicles, used to upgrade existing outdoor work vehicles that do not have or do not fully have automatic operation functions to intelligent outdoor work vehicles with fully automatic operation functions. The upgrade method includes the following steps: determining the installation position at least on the frame 1 and / or cover of the existing outdoor work vehicle; installing the connection component at the installation position; installing the detection component on the connection component; assembling the computing power main control module 31 on the existing outdoor work vehicle, and signal connecting the computing power main control module 31 to the vehicle controller 33 and at least to some of the detection components.

[0116] like Figure 26 In some embodiments, determining the installation location on an existing outdoor work vehicle includes: using a positioning device to locate and mark multiple locations on the frame 1 and / or cover of the existing outdoor work vehicle to form multiple marker points 801 to be processed; and using a processing device to process the multiple marker points 801 to be processed on the frame 1 and / or cover to form multiple installation positions.

[0117] like Figure 25 In some embodiments, the positioning device includes a plurality of fixtures 37 having holes 371, each fixture 37 being adapted to the shape of the location on the frame 1 and / or cover where the connecting components need to be installed;

[0118] Using a positioning device, multiple locations are located and marked on the frame 1 and / or cover of an existing outdoor work vehicle to form multiple marker points 801 to be processed, including:

[0119] like Figure 25 and Figure 26 Each fixture 37 is attached to the location on the frame 1 and / or the cover where the connecting component needs to be installed. The frame 1 and / or the cover corresponding to the hole 371 is marked with a marking tool to form multiple marking points 801 to be processed. The multiple marking points 801 on the frame 1 and / or the cover are processed with processing equipment to form multiple mounting positions.

[0120] like Figure 25 As shown, in some embodiments, it should be noted that, due to the different installation positions of the detection components on existing outdoor work vehicles (the above-mentioned marker points 801 to be processed), and the different structures of the frame 1 and the cover of the existing outdoor work vehicles at different locations, the specific structure of each fixture 37 is also different at different locations on the frame 1 or the cover, but each fixture 37 should meet the requirements of fitting the frame 1 or the cover.

[0121] In some embodiments, positioning and marking multiple locations on the frame 1 and / or cover of an existing outdoor work vehicle using a positioning device to form multiple marker points 801 to be processed includes: performing preliminary positioning of multiple points on the frame 1 and / or cover using the positioning device according to the height required when installing the connecting components; adjusting the height of the output end of the positioning device to adjust the multiple preliminary positioning points on the frame 1 and / or cover to multiple determined positioning points, and marking the multiple determined positioning points to form multiple marker points 801 to be processed.

[0122] like Figure 2 , Figure 3 and Figure 25 In some embodiments, processing multiple marker points 801 on the frame 1 and / or cover to form multiple mounting positions using processing equipment includes: processing multiple marker points 801 on the frame 1 and / or cover to form multiple mounting positions for installing connecting components at a preset height using processing equipment.

[0123] In some embodiments, the processing equipment includes a drilling device, and the processing includes drilling a plurality of marker points 801 to be processed using the drilling device.

[0124] like Figure 24In some embodiments, the connecting component includes a first connector and a second connector that are adapted to the shape of multiple mounting positions. Both the first connector and the second connector are provided with a connection position 121 for connecting the detection component. The first connector and the connection position 121 thereon form a preset angle, and the second connector and the connection position 121 thereon form a preset angle.

[0125] In some embodiments, installing the connecting component at the installation position includes: setting a first connector or a second connector adapted to the shape of the installation position at each of a plurality of installation positions having a preset height, such that the first connector or the second connector is set at the corresponding installation position at a preset height and a preset angle, and forming a connection position 121 with a preset height and a preset angle on the first connector and / or the second connector.

[0126] like Figure 28 Installing the detection component on the connection component includes: setting at least one of the ultrasonic sensor 18, the vision sensor, and the lidar 21 as needed at the connection position 121 of the first connector and / or the connection position 121 of the second connector, which have a preset height and a preset angle, so that at least one of the ultrasonic sensor 18, the vision sensor, and the lidar 21 has a preset height and angle after installation.

[0127] like Figures 5 to 8 As shown, in some embodiments, a lidar 21 can also be mounted on the second connector for mounting the vision sensor on the front side of the frame 1, so that the lidar 21 and the vision sensor are mounted one above the other on the same second connector. This arrangement improves the fitting degree of the detection information when the vision sensor and lidar 21 fit the information they detect, thereby improving the accuracy of judging obstacles in front and accurately obtaining the category of the obstacle.

[0128] like Figures 5 to 8 As shown, in some embodiments, the second connector further includes a sixth mounting bracket 17 connected between the left and right crossbeams of the frame 1.

[0129] like Figure 12 As shown, a computing power main control module 31 is installed on an existing outdoor operation vehicle, and the computing power main control module 31 is connected to the detection component and the vehicle controller 33 on the existing outdoor operation vehicle.

[0130] like Figure 12 As shown, the computing power main control module 31 in this application is configured to receive and process information from the detection components in part or all, and then transmit the processed information to the vehicle controller 33. The vehicle controller 33 is configured to control the operation of the upgraded intelligent outdoor work vehicle with fully automatic operation function according to the information transmitted by the computing power main control module 31.

[0131] like Figure 12 As shown, in some embodiments, part of the information from the detection component is transmitted to the computing power main control module 31 for processing, while another part of the information from the detection component is transmitted to the vehicle controller 33 for processing.

[0132] like Figure 12 As shown, in some embodiments, the ultrasonic sensor 18 of this application is signal-connected to the vehicle controller 33, and the vehicle controller 33 controls the operation of the walking assembly 5 and the cutting assembly based on the signal from the ultrasonic sensor 18. Specifically, the vehicle controller 33 controls the walking assembly 5 to brake or turn based on the signal from the ultrasonic sensor 18, and the vehicle controller 33 controls the cutting assembly to decelerate or stop based on the signal from the ultrasonic sensor 18.

[0133] like Figure 12 As shown, in some embodiments, the visual sensors (monocular camera 19 and binocular camera 20) and LiDAR 21 of this application are both signal-connected to the computing power control module 31. The computing power control module 31 performs algorithm processing (including AI large model processing) based on the signals from the visual sensors and LiDAR 21, and then transmits the processed signals to the vehicle controller 33. The vehicle controller 33 then performs corresponding actions such as controlling the walking component 5 to brake or turn, and controlling the cutting component to decelerate or stop. In some embodiments, the brakes in this application are electronically controlled brakes.

[0134] like Figure 15 As shown, in some embodiments, to further improve the fitting degree of the detection information between the visual sensor and the lidar 21, the upgraded method of this application further includes: providing a periscope structure 30, by setting one end of the periscope structure 30 on the mask 2101 of the lidar 21, and connecting the other end of the periscope structure 30 to the camera of the visual sensor, so that the periscope structure 30 transmits the information acquired by it on the mask 2101 of the lidar 21 to the visual sensor. In this way, by physically aligning them, the distance between the laser emitting end 2102 of the lidar 21 and the lens of the periscope structure 30 is minimized as much as possible. The periscope structure 30 then transmits the information entering the periscope structure 30 tube to the visual sensor, thus making the light-collecting point distance between the lidar 21 and the visual sensor closer, further improving the fitting degree of their detection information.

[0135] like Figures 6 to 9As shown, in some embodiments, the existing outdoor work vehicles of this application can also utilize the RTK system 32 for location positioning. The RTK system 32 includes a satellite positioning receiving antenna 22, a satellite positioning mobile station, and an RTK base station. The satellite positioning receiving antenna 22 and the satellite positioning mobile station are used to be installed on a mobile work vehicle, while the RTK base station is used to be fixed at a certain location in the work area.

[0136] like Figure 7 As shown, in some embodiments, two satellite positioning receiving antennas 22 are provided, and the distance between the two satellite positioning receiving antennas 22 ranges from 260mm to 1300mm. In some embodiments, the distance between the two satellite positioning receiving antennas 22 is 260mm, 380mm, 650mm or 1300mm.

[0137] like Figure 8 As shown, in some embodiments, the two satellite positioning receiving antennas 22 are not collinear, either parallel or perpendicular to the travel direction of the existing outdoor work vehicle. The satellite positioning receiving antennas 22 can be installed at the front, rear, or other suitable locations on the existing outdoor work vehicle.

[0138] In some embodiments, the satellite positioning receiving antenna 22 can be directly mounted on the vehicle frame 1, the seat 3, or the battery compartment 601. In some embodiments, the satellite positioning receiving antenna 22 can also be directly or indirectly mounted on the sixth mounting bracket 17.

[0139] like Figure 31 and Figure 32 As shown, it is understandable that existing outdoor work vehicles can also be other vehicles that travel outdoors, such as all-terrain vehicles, ATVs, farm vehicles, and golf carts. Existing outdoor work vehicles can also be agricultural machinery vehicles, such as harvesters and sprayers. Because different outdoor work vehicles have different dimensions such as length, width, and height, the number, height, and angle of sensors installed on each type of outdoor work vehicle will differ when upgrading them. However, the overall installation approach generally adopts the upgrade system and method described above.

[0140] In some embodiments, the number of ultrasonic sensors 18 installed on an all-terrain vehicle can be 12 or 16, and the number of ultrasonic sensors 18 installed on a snowplow, snow sweeper, or snow blower can be 4 or 6.

[0141] like Figure 6 and Figure 10As shown, in some embodiments, this application also provides an intelligent outdoor work vehicle, obtained through the above-described upgrade system and upgrade method. The intelligent outdoor work vehicle includes: a walking component 5, configured to support the intelligent outdoor work vehicle's movement; the walking component 5 includes: a first walking wheel 501, rotatable about a first axis 28; a second walking wheel 502, rotatable about a second axis 29; a work component 4, configured to perform outdoor work; and multiple sensors, configured to support the intelligent outdoor work vehicle's automatic movement within the work area. The number Y of sensors installed on the intelligent outdoor work vehicle is calculated using the following formula:

[0142]

[0143] Where L is the distance between the first axis 28 and the second axis 29, 1.5m≥L≥1m; X is the working radius of the working component 4 in the direction of travel of the intelligent outdoor working vehicle, 60inch≥X≥30inch; This indicates the floor function. This indicates the rounding up operation.

[0144] In some embodiments, when L is 1.2m and X is 42 inches, the number Y of sensors arranged around the intelligent outdoor work vehicle is 11, 12, or 13.

[0145] In some embodiments, the walking assembly 5 includes a first walking wheel 501 rotatable about a first axis 28 and a second walking wheel 502 rotatable about a second axis 29. The diameter of the first walking wheel 501 is larger than the diameter of the second walking wheel 502. Sensors are provided at both ends of the first walking wheel 501 in the direction of travel of the intelligent outdoor work vehicle. The detection range of the sensor located at one end of the first walking wheel 501 at least partially overlaps with that of the sensor located at the other end of the walking wheel. When the diameter of the first walking wheel 501 is large, placing the sensors at both ends of the first walking wheel 501 helps to reduce the blind spots of sensor detection and improve the accuracy of sensor detection.

[0146] In some embodiments, the intelligent outdoor work vehicle of this application further includes a computing power main control module 31, which is connected to multiple sensors and the vehicle controller 33 on the intelligent outdoor work vehicle. The computing power main control module 31 is used to process the sensing information of multiple sensors and transmit the processed information to the vehicle controller 33. The vehicle controller 33 controls the operation of the walking component 5 and / or the work component 4 according to the information.

[0147] like Figure 7As shown, in some embodiments, this application also provides an intelligent outdoor work vehicle. The intelligent outdoor work vehicle is obtained through the above-described upgrade system and upgrade method. The intelligent outdoor work vehicle includes: an energy source system 6 configured to supply power to the intelligent outdoor work vehicle, the energy source system 6 including at least one of a first type battery pack and a second type battery pack, at least one of the first type battery pack and the second type battery pack being detachably installed in the intelligent outdoor work vehicle and can be used to power a handheld power tool after detachment; a work component 4 configured to perform outdoor work; a walking component 5 configured to support the intelligent outdoor work vehicle to walk, the walking component 5 including a first walking wheel 501 rotatable about a first axis 28 and a second walking wheel 502 rotatable about a second axis 29, the wheel diameter of the first walking wheel 501 being larger than the wheel diameter of the second walking wheel 502; and a plurality of ultrasonic sensors 18 disposed on the intelligent outdoor work vehicle, the plurality of ultrasonic sensors 18 being located on the outer sides of both ends of the first walking wheel 501 in the direction of travel of the intelligent outdoor work vehicle.

[0148] like Figure 10 As shown, in some embodiments, in the direction of travel of the intelligent outdoor work vehicle, the detection range of the ultrasonic sensor 18 located at one end of the first walking wheel 501 and the ultrasonic sensor 18 located at the other end of the first walking wheel 501 at least partially overlap.

[0149] In some embodiments, a visual sensor is also included, located above the first wheel 501 and between its two ends in the direction of travel of the intelligent outdoor work vehicle. With the ultrasonic sensor 18 positioned at the front and rear ends of the first wheel 501, placing the visual sensor above the first wheel 501 helps to reduce the detection blind zone near the first wheel 501, expand the detection range, and improve detection accuracy.

[0150] like Figure 17As shown, in some embodiments, the intelligent outdoor work vehicle of this application is obtained through the above-described upgrade system and upgrade method. The intelligent outdoor work vehicle includes: a walking component 5 configured to support the intelligent outdoor work vehicle's movement; a work component 4 configured to perform outdoor work; an energy source system 6 configured to supply power to the intelligent outdoor work vehicle, the energy source system 6 including at least one of a first type battery pack and a second type battery pack with different capacities; multiple sensors, each sensor including an axis 27 along the signal transmission direction in the top view direction of the intelligent outdoor work vehicle; among at least three adjacent sensors on the front, rear, left, and right sides of the intelligent outdoor work vehicle, the intersection of the axis 27 of the middle sensor with the axis 27 of one adjacent sensor is a first intersection point 25, and the intersection of the axis 27 of the middle sensor with the axis 27 of another adjacent sensor is a second intersection point 26, the first intersection point 25 and the second intersection point 26 are respectively located on both sides of the three adjacent sensors.

[0151] In some embodiments, refer to the appendix Figure 17 In the direction of travel of the intelligent outdoor work vehicle, the first intersection point 25 of the axes 27 of the two sensors closest to the rear of the vehicle is located on one side of the three adjacent sensors, and the distance between these two sensors is set relatively close, resulting in a smaller detection blind zone between these two sensors and close to the outer contour of the vehicle. The second intersection point 26 of the axes 27 of the two sensors closest to the front of the vehicle is located on the other side of the three adjacent sensors, and the detection edges of these two sensors are close to the outer contour line of the vehicle, thereby reducing the detection blind zone between these two sensors and close to the outer contour of the vehicle.

[0152] like Figure 12 As shown, in some embodiments, this application also includes a computing power main control module 31 for receiving and processing information from sensors, and a vehicle controller 33 for controlling the intelligent outdoor work vehicle to walk in a predetermined direction and / or perform outdoor work. The vehicle controller 33 can control the operation of the walking component 5 and / or the work component 4 according to the information received by the computing power main control module 31.

[0153] like Figure 6 and Figure 7As shown, in some embodiments, this application also provides an intelligent outdoor work vehicle with a collision detection device, obtained through the above-described upgrade system and upgrade method. The intelligent outdoor work vehicle includes: a frame 1, on which an energy source system 6 is disposed, the energy source system 6 being configured to supply power to the intelligent outdoor work vehicle, the energy source system 6 including a battery compartment 601 and a first type battery pack and / or a second type battery pack detachably installed in the battery compartment 601, the first type battery pack and the second type battery pack having different electrical capacities, at least one of the first type battery pack and / or the second type battery pack being usable for powering a handheld power tool after being detached; a work component 4, configured to perform vegetation cutting; a walking component 5, configured to support the intelligent outdoor work vehicle in motion; a seat 3, configured for a user to sit on; a vehicle controller 33, configured to control the operation of at least one of the work component 4 and the walking component 5; and a collision detection device 23, signal-connected to the vehicle controller 33, the vehicle controller 33 being further configured to control the operation of at least one of the work component 4 and the walking component 5 based on the collision information from the collision detection device 23.

[0154] like Figure 16 As shown, in some embodiments, the collision detection device 23 includes a collision strip 2301, which has a first contact surface 23013 capable of contacting an obstacle. The intelligent outdoor work vehicle is equipped with a crash beam (not shown), generally located on the front side of the vehicle and closer to the rear side of the intelligent outdoor work vehicle than the collision strip 2301. The crash beam has a second contact surface capable of contacting an obstacle. In the horizontal direction, the distance between the first contact surface 23013 and the second contact surface ranges from 6 mm to 12 mm. In some embodiments, the distance between the first contact surface 23013 and the second contact surface is 6 mm, 10 mm, or 12 mm. The distance between the first contact surface 23013 and the second contact surface is related to the braking distance of the intelligent outdoor work vehicle. In the event of brake failure, the crash beam acts as a barrier for the intelligent outdoor work vehicle, stopping the vehicle in operation and minimizing damage caused by a collision.

[0155] When the collision detection device 23 collides with an obstacle, the outer part of the collision strip 2301 first contacts the obstacle. Then, the collision strip 2301 deforms and squeezes the first conductor 2303 to move closer to the second conductor 2304. When the first conductor 2303 and the second conductor 2304 come into contact, a collision signal is triggered. The collision signal is transmitted to the vehicle controller 33, which then issues a corresponding command to stop the intelligent outdoor work vehicle from moving or working.

[0156] like Figure 16As shown, in some embodiments, the collision strip 2301 has a receiving cavity 23012, and the first conductor 2303 and the second conductor 2304 are located in the receiving cavity 23012.

[0157] In some embodiments, the collision detection device 23 includes a collision strip 2301, the height of which is 300mm to 400mm above the ground. In some embodiments, the height of the collision strip 2301 above the ground is 300mm, 350mm, or 400mm. This allows the collision strip 2301 to contact relatively low obstacles, ensuring that the collision detection device 23 has a large detection range and avoiding missed detection of low-height obstacles.

[0158] like Figure 16 As shown, in some embodiments, the collision detection device 23 includes a collision strip 2301 and a mounting base 2302. The collision strip 2301 is provided with a first mounting portion, and the mounting base 2302 is provided with a second mounting portion that slides with the first mounting portion. In some embodiments, the first mounting portion is a slider 23011, and the second mounting portion is a groove 23021.

[0159] like Figure 7 and Figure 13 As shown, in some embodiments, the intelligent outdoor work vehicle also includes a headlight 24, and the distance between the headlight 24 and the collision strip 2301 in the direction of travel of the intelligent outdoor work vehicle is 100mm to 150mm.

[0160] like Figure 7 and Figure 13 As shown, in some embodiments, the intelligent outdoor work vehicle also includes headlights 24, which are higher than the height of the collision detection device 23. With this arrangement, when encountering a relatively low obstacle, the collision detection device 23 will contact the obstacle first, and the intelligent outdoor work vehicle can brake in a timely manner based on the detection of the collision detection device 23, thereby reducing the damage to the headlights 24 caused by the collision.

[0161] It should be noted that all descriptions of height in this application are based on the ground as the reference point.

[0162] like Figure 7 As shown, in the horizontal direction, the distance between the headlight 24 and the seat 3 is less than the distance between the collision detection device 23 and the seat 3. Furthermore, in the horizontal direction (or the front-to-back direction of outdoor operations), the position of the collision detection device 23 is further forward than the position of the headlight 24. This arrangement is also to ensure that in the event of a collision, the collision detection device 23 will contact the obstacle first, and the intelligent outdoor operation vehicle will brake in a timely manner according to the detection situation of the collision detection device 23, reducing the possibility of damage to the headlight 24 due to the collision.

[0163] In some embodiments, an operating component 2 is further included, disposed on the frame 1, and configured to control the intelligent outdoor work vehicle to move forward, backward, or turn. This is for user operation control of the intelligent outdoor work vehicle.

[0164] like Figure 6 As shown, in some embodiments, the walking component 5 includes a first walking wheel 501 that can rotate about a first axis 28 and a second walking wheel 502 that can rotate about a second axis 29. The distance between the first axis 28 and the second axis 29 is 900mm to 1500mm. In some embodiments, the distance between the first axis 28 and the second axis 29 is 900mm, 1000mm, 1200mm or 1500mm.

[0165] like Figure 22 and Figure 23 In some embodiments, this application discloses an outdoor work vehicle, which can be obtained through the upgrade system and upgrade method described above, including: a frame 1; a battery compartment 601 disposed at the rear of the frame 1; a cover covering at least a portion of the frame 1; at least one of the battery compartment 601 and the cover having an outer contour structure with non-zero curvature; a detection component for detecting the location information of the intelligent outdoor work vehicle and / or the surrounding environment information; and a connection component capable of connecting the detection component to the outer contour structure, wherein the connection component is at least partially adapted to the shape of the outer contour structure.

[0166] Since the outer contour structure of the frame 1 or the cover of the intelligent outdoor operation vehicle is different at different locations, when we select the connecting components to install different outer contour structures, we will select the connecting components that match the shape of the corresponding outer contour structure.

[0167] like Figure 22 , Figure 23 and Figure 24 As shown, in some embodiments, in the horizontal direction, the outer contour structure includes at least a first contour surface 701 and a second contour surface 702 with different heights. The connecting component includes a first connector, which includes at least a first adapter surface 122 and a second adapter surface 123 with different heights. When the first connector is installed on the outer contour structure, the first contour surface 701 and the first adapter surface 122 are spatially corresponding, and the second contour surface 702 and the second adapter surface 123 are spatially corresponding. Further, the first contour surface 701 and the first adapter surface 122 can be spatially fitted together, and the second contour surface 702 and the second adapter surface 123 can be spatially fitted together. Through the above method, the fit between the first connector and the outer contour structure can be made more stable.

[0168] In some embodiments, this application also provides an outdoor work vehicle, including a frame 1; a battery compartment 601 disposed at the rear of the frame 1; a cover including a left cover 7 and a right cover 8, the left cover 7 and the right cover 8 covering at least a portion of the frame 1; at least one of the battery compartment 601, the left cover 7, and the right cover 8 having an outer contour structure with non-zero curvature; at least two detection components for detecting environmental information around the intelligent outdoor work vehicle; and a connection component including multiple connectors, at least one connector being adapted to the shape of the outer contour structure, and at least one connector being adapted to the shape of the frame. This arrangement allows the detection components installed at various locations on the outdoor work vehicle to be stably installed, ensuring that the detection range of the outdoor work vehicle during operation remains within a preset range. The stable installation of the detection components also guarantees the accuracy of the vehicle's detection of the surrounding environment.

[0169] In some embodiments, multiple detection components are provided, and the height difference between two adjacent detection components in the vertical direction is 5mm to 12mm. Setting the height difference between two adjacent detection components to be relatively small is to minimize the error in the detection information when two adjacent detection components detect the same obstacle, thereby improving the accuracy of obstacle detection.

[0170] When installing sensors on outdoor work vehicles, especially when multiple sensors need to be installed, such as ultrasonic sensors 18, vision sensors and lidar 21, and the number of each ultrasonic sensor 18, vision sensor and lidar 21 installed on the vehicle is different, it is time-consuming and labor-intensive to install them one by one during installation and disassemble them one by one during maintenance.

[0171] like Figure 20 and Figure 21 In some embodiments, an outdoor work vehicle includes: a frame 1; a running gear 5 disposed on the frame 1 for driving the outdoor work vehicle; a work assembly 4 disposed on the frame 1 for performing outdoor work; a headlight assembly 24 disposed on the frame 1 for at least illuminating the front of the outdoor work vehicle; and a front detection assembly disposed at the front of the vehicle to detect environmental information in front of the vehicle. The front detection assembly includes at least two detection units and a mounting assembly for mounting the at least two detection units to the frame 1, wherein at least one detection unit is higher than the headlight assembly.

[0172] The above-mentioned method integrates two or more detection units on the mounting assembly, and then modularly installs the mounting assembly with the detection units onto the frame 1, which improves the efficiency of installing the detection assembly on the vehicle, simplifies the installation steps, and facilitates disassembly and maintenance.

[0173] In some embodiments, the two detection units can be any two of the ultrasonic sensor 18, the visual sensor, and the lidar 21.

[0174] In some embodiments, the two detection units may be two ultrasonic sensors 18, two visual sensors, or two lidar 21.

[0175] In some embodiments, the mounting assembly includes a support 171 and a mounting accessory 172, the support 171 being connected to the frame 1 and the mounting accessory 172 being located on the support 171.

[0176] In some embodiments, the assembly 172 has at least two mounting positions for mounting detection units. In some embodiments, the assembly 172 has three mounting positions, two for mounting two sensors and one for mounting a satellite positioning receiving antenna 22. In some embodiments, the assembly 172 has four mounting positions, three for mounting three sensors (which may be an ultrasonic sensor 18, a visual sensor, and a lidar 21), and one for mounting a satellite positioning receiving antenna 22, which receives signals transmitted by satellites for satellite positioning of outdoor work vehicles.

[0177] In some embodiments, the frame 1 includes two longitudinal beams and a crossbeam connecting the two longitudinal beams, and the support member 171 is detachably mounted on the longitudinal beams or the crossbeam. The longitudinal beams or the crossbeam provide mounting support for the support member 171, thereby enabling the entire front detection assembly to be mounted and fixed on the frame 1.

[0178] Furthermore, the support member 171 includes a connecting part and a mounting part. The connecting part is configured to connect to the frame 1, and the mounting part is configured to connect to the mounting accessory 172. The height of the mounting part is higher than the height of the headlight assembly. The mounting accessory 172 is used to mount the detection unit. Mounting the mounting accessory on the mounting part, which is higher than the headlight assembly, is to prevent the detection unit from interfering with the illumination of the headlight assembly, thereby ensuring the lighting effect of the headlight assembly.

[0179] Please also refer to Figure 6 , Figure 20 and Figure 21In some embodiments, this application also provides an outdoor work vehicle, including: a frame 1; a running gear 5 for supporting the movement of the outdoor work vehicle, the running gear 5 including front running wheels and rear running wheels, the front running wheels being disposed at the front of the frame 1 and the rear running wheels being disposed at the rear of the frame 1; a work assembly 4 connected to the frame 1, the work assembly 4 being used to perform outdoor work; a vehicle controller 33 configured to at least control the movement of the outdoor work vehicle and perform outdoor work; and a front detection assembly detachably mounted on the frame 1, the front detection assembly being disposed at the front of the vehicle to detect environmental information in front of the vehicle, the front detection assembly including at least two detection units and a [missing information - likely a device name or function] for [missing information - likely a device name or function] to ... At least two detection units are installed on the mounting assembly of the frame 1; wherein, at least two detection units have different detection functions; the computing power main control module 31 can be connected to the vehicle controller 33 and the front detection component respectively. The computing power main control module 31 can receive information from the front detection component and process the received information and send it to the vehicle controller 33. By integrating the detection units with at least two different detection functions on the mounting assembly, and then modularly installing the detection units with at least two different detection functions on the frame 1 through the mounting assembly, the efficiency of installing the front detection component on the vehicle is improved, the installation steps are simplified, and disassembly and maintenance are also convenient.

[0180] In some embodiments, the mounting assembly includes a support member 171 and a mounting accessory 172. The support member 171 is detachably connected to the vehicle frame 1, the mounting accessory 172 is located on the support member 171, and the detection unit is disposed on the mounting accessory 172. In this application, the support member 171 is connected to the vehicle frame 1, the mounting accessory 172 is mounted on the support member 171, and then the detection unit is disposed on the mounting accessory 172 to achieve the purpose of fixing the detection unit to the vehicle frame 1.

[0181] In some embodiments, the detection unit includes either a visual sensor or a lidar 21. The detection information of the visual sensor and lidar 21 about their surrounding environment needs to be transmitted to the computing power main control module 31. The computing power main control module 31 can process the information received from the visual sensor and lidar 21 and send it to the vehicle controller. The vehicle controller 33 then determines whether to adjust the vehicle's driving path or adjust the height of the working component 4 or the start / stop of the working component 4 based on the information transmitted by the computing power main control module 31, so as to achieve the purpose of obstacle avoidance.

[0182] In some optional embodiments, the side-view detection unit is positioned at the rearmost lateral location of the vehicle, such as the far left or far right rear. In this position, the side of the vehicle can be almost completely captured by the side-view detection unit, which is considered the optimal location for the unit. However, in practice, the position of the side-view detection unit is limited by the shape of the vehicle and may not be able to be positioned at the far left or far right rear. Furthermore, a position within 30% of the front or rear of the vehicle is sufficient to effectively detect the lateral environment. Therefore, the distance between the side-view detection unit and the front or rear of the vehicle should be less than or equal to 30% of the vehicle's total length.

[0183] In some more specific embodiments, reference is made to the appendix. Figure 18 The figure shows a top view of an outdoor work vehicle. In this embodiment, the side vision detection unit is positioned at the rear side of the vehicle. Mark C in the figure represents the total length of the vehicle, mark A represents the distance of the side vision detection unit from the frontmost point of the vehicle, and mark B represents the distance of the side vision detection unit from the rearmost point of the vehicle. In this embodiment, 30% ≥ B / C ≥ 0. Further, in some embodiments, the value of B / C is 24%, meaning the side vision detection unit is located 24% of the distance from the rearmost point of the vehicle in the longitudinal direction, enabling it to effectively detect the environmental conditions in front of and to the side of the vehicle.

[0184] In some optional embodiments, the horizontal field of view of the side vision detection unit is greater than or equal to 100° and less than or equal to 140°. In this embodiment, the side vision detection unit is a binocular camera 20, which is a camera structure configured with two camera units, capable of combining and removing distortion from the images captured by the two camera units. The horizontal field of view of each camera unit should be no less than 140°, and the two camera units are set at an angle to each other. The side vision detection unit includes a unit processing module. The equivalent field of view of the image obtained after combining and removing distortion from the images captured by the two camera units should meet the above-mentioned requirement of being greater than or equal to 100° and less than or equal to 140°. For example, in some optional embodiments, the horizontal field of view of the side vision detection unit is 120°. (Refer to the appendix.) Figure 29 The figures S2 and S3 illustrate the detection range of the two side vision detection units. S2 includes the edge lines of two horizontal field of view angles. One of the edge lines is marked as d in the figure. In this embodiment, the angle between line segment d and the other edge line is approximately 120°.

[0185] In some optional embodiments, the angle between one edge line of the horizontal field of view of the side vision detection unit and a first direction is less than or equal to 10°, where the first direction is the vehicle's longitudinal direction. (See attached diagram.) Figure 29The line segment d shown in the figure is one of the edge lines of the horizontal field of view of the side vision detection unit. Its angle with the first direction is small, which enables it to detect obstacles that are relatively close to the vehicle body from the side, ensuring that the detection results are more reliable.

[0186] In some optional embodiments, the outdoor work vehicle also includes a front vision detection unit disposed at the front of the vehicle. The front vision detection unit is mainly used to detect the environment in front of the vehicle. The front vision detection unit is oriented almost horizontally towards the front of the vehicle. Specifically, the front vision detection unit includes a front camera unit, which is oriented almost horizontally towards the front of the vehicle to minimize distortion of the images it captures.

[0187] In some optional embodiments, the outdoor work vehicle also includes a rear vision detection unit located at the rear of the vehicle, which is mainly used to detect the environment behind the vehicle.

[0188] Please refer to the appendix again. Figure 29 The shaded sectors in the figure represent the detection range of the corresponding visual detection units. Specifically, S1 represents the detection range of the front visual detection unit, S2 and S3 represent the detection ranges of the right and left side visual detection units, respectively, and S4 and S5 represent the detection ranges of the two rear visual detection units.

[0189] In some optional embodiments, the detectable range of the front visual detection unit at least partially overlaps with the detectable range of one of the side visual detection units. For example... Figure 29 As shown, S1 and S2 have a partial overlap, and S1 and S3 also have a partial overlap. This partial overlap avoids the existence of blind spots, especially when there are obstacles in the overlapping area. The two visual detection units jointly detect the images on both sides of the obstacle, which can better help users or vehicles identify the specific information of the obstacle.

[0190] In some optional embodiments, the outdoor work vehicle also includes a laser detection unit disposed at the front of the vehicle. The laser detection unit has a longer detection range, enabling it to assist the front vision detection unit in effectively identifying obstacles at greater distances. It should be noted that the laser detection unit described in this application is the aforementioned lidar 21.

[0191] In some optional embodiments, the laser detection unit is located directly above or below the front visual detection unit. Both the visual detection unit and the laser single-sided unit will ultimately be displayed to the user in the form of an image. If there is a difference in their left-right positions, it will cause a significant difference in the images they output. Conversely, arranging them vertically in this embodiment can reduce the difference in the images they output, making it easier for the user or controller to judge the environmental conditions by combining the images output by both.

[0192] In some optional embodiments, the outdoor work vehicle also includes at least two rear-view detection units positioned at the rear of the vehicle, each tilted outwards to detect the environment on both sides behind the vehicle.

[0193] Furthermore, in some optional embodiments, the detectable ranges of the two rear-vision detection units at least partially overlap. (See attached diagram.) Figure 29 The diagram shows S4 and S5, which represent the detection ranges of the two rear-vision detection units. S4 and S5 partially overlap, achieving not only the technical effect of observing obstacles in the overlapping area from both sides, but also the ability to identify the distance to the obstacle in the overlapping area by combining the two images. In other words, the combination of the two rear-vision detection units creates a depth-of-field recognition effect.

[0194] Furthermore, in some optional embodiments, the detectable range of at least one side detection unit at least partially overlaps with the detectable range of one of the rear vision detection units. For example... Figure 29 As shown, S2 and S4 have a partial overlap, as do S3 and S5. This partial overlap avoids blind spots, especially when obstacles exist in the overlapping area. The two visual detection units jointly detect the images on both sides of the obstacle, providing users or vehicles with better information about the obstacle.

[0195] In some optional embodiments, this specification also discloses an outdoor work vehicle, which includes a frame 1, a battery compartment 601, a cover, a walking assembly 5, a work assembly 4, a vehicle controller 33, and a detection assembly.

[0196] The battery compartment 601 is located at the rear of the frame 1. The battery compartment 601 contains a removable battery pack, which the user can freely remove or place.

[0197] The coverings include a left covering 7 and a right covering 8, which at least cover a portion of the frame 1.

[0198] The walking component 5 is configured on the frame 1 and is used to drive the vehicle; the working component 4 is configured on the frame 1 and is used to perform outdoor operations.

[0199] The vehicle controller 33 is connected to the travel assembly 5 and / or the work assembly 4 for controlling the travel assembly 5 and / or the work assembly 4 to achieve the purpose of driving the vehicle and / or performing work.

[0200] The detection component is used to detect the vehicle's location information and / or surrounding environmental information. Furthermore, the detection component includes multiple detector units, a control module, and a wiring system.

[0201] The detector unit is configured on the frame 1 or as a cover, or the right cover 8 or the battery compartment 601 to detect the vehicle's position and / or environmental information around the vehicle based on any of the above locations.

[0202] The control module generates vehicle location information and / or environmental information around the vehicle based on the received detector signals.

[0203] The connecting line system connects each detector unit and the control module, so that the detector unit can send signals to the control module, and the control module can also send control signals to the detector unit through the connecting line system, such as controlling the detector unit to turn on or off.

[0204] In some optional embodiments, the detector unit is detachably connected to the wiring system for easy assembly and maintenance.

[0205] In some optional embodiments, the control module is detachably connected to the wiring system for easy assembly and maintenance.

[0206] In some optional embodiments, the control module is an ultrasonic ECU34, the detector module is an ultrasonic detector, and the connection system connects each ultrasonic detector and the ultrasonic ECU34.

[0207] In another optional embodiment, the control module is a vision ECU, the detector module is a vision detection unit, and the connection line system connects each vision detection module and the vision ECU.

[0208] In another optional embodiment, the outdoor work vehicle includes a positioning system for acquiring vehicle positioning data, which includes satellite positioning data and / or indoor positioning data based on wireless communication technologies (such as Wi-Fi, Bluetooth Low Energy (BLE), ZigBee, UWB, etc.). The control module is a positioning control module, the detector module is a positioning unit that receives positioning signals, and a connecting line system connects each positioning unit and the positioning control module. Exemplarily, the positioning system can use an RTK (Real-time kinematic) carrier phase differential technology for satellite positioning. Specifically, the positioning control module is an RTK rover station, and the positioning unit is an RTK antenna that receives base station positioning signals and satellite positioning signals. The positioning unit sends the received positioning signals to the RTK rover station, which calculates the precise position of the RTK antennas based on the differential positioning signals received by the positioning unit. Then, in conjunction with the actual positions of each RTK antenna on the vehicle body, the RTK rover station determines the vehicle's orientation. When the vehicle is stationary, the arrangement of two or more RTK antennas allows the RTK rover station to quickly determine the vehicle's orientation, i.e., the direction of travel at the moment of vehicle startup.

[0209] Additionally, outdoor work vehicles also include an inertial measurement unit (IMU) and an odometer (Odo). The inertial measurement unit is configured to acquire signals related to the vehicle's position and attitude during operation, while the odometer is configured to acquire data signals related to the distance traveled during operation.

[0210] In some optional embodiments, the connection system includes a first terminal, a plurality of second terminals, and a wire assembly, wherein the first terminal is used to connect to a control module, the plurality of second terminals are used to connect to various detector units, and the wire assembly is used to connect the first terminal and the plurality of second terminals.

[0211] In some optional embodiments, the control module includes a third terminal that forms a detachable connection with the first terminal.

[0212] In some optional embodiments, the detector unit includes a fourth terminal that forms a detachable connection with the second terminal.

[0213] In some optional embodiments, the control module is positioned below the seat 3. In this embodiment, the projection of the control module onto the ground at least partially overlaps with the projection of the seat 3 onto the ground. Since the seat 3 is located almost in the center of the vehicle, the distance between each detector unit and the control module is approximately equal, and the signal transmission time from each detector unit to the control module is approximately equal. This allows the control module to collect the signals generated by the detector units at the same time in the shortest possible time and generate the corresponding control signal. In other words, the delay in the control module's response to the signals detected by each detector unit is minimized.

[0214] Exemplary, in some optional embodiments, reference is made to the appendix. Figure 30 The control module is an ultrasonic ECU 34, the connection system is an ultrasonic connection system 35, and the detector unit is an ultrasonic detector unit 36. The ultrasonic ECU 34 includes an ECU body 341 and an ECU third terminal 342; the ultrasonic connection system 35 includes a first terminal 351, a second terminal 352, and an ultrasonic wire assembly 353, which connects the first terminal 351 to multiple second terminals 352; the ultrasonic detector unit 36 ​​includes an ultrasonic detector body 361 and a detector fourth terminal 362. The first terminal 351 and the ECU third terminal 342 are detachably connected, and the second terminal 352 and the detector fourth terminal 362 are detachably connected.

[0215] In some optional embodiments, the control module is located at the left cover 7 or the right cover 8, meaning that the left or right cover 8 also provides coverage and protection for the control module. In this embodiment, the projection of the control module on the ground coincides with the projection of the left or right cover 7 or the right cover 8 on the ground.

[0216] In some optional embodiments, the outdoor work vehicle further includes a power management module, which controls the vehicle's power supply system, specifically controlling the energy supply to the entire vehicle. In some embodiments, the power management module is functionally equivalent to the power management device 603 described above. The control module and the power management module at least partially overlap on the ground projection or the distance between their ground projections is less than or equal to 10 cm. Since the communication between the power management module and the vehicle controller 33 is relatively frequent, and the control module in this embodiment also needs to communicate frequently with the vehicle controller 33, this embodiment places the control module and the power management module close together so that they can share the same communication bus to communicate with the vehicle controller 33. Exemplarily: the control module first sends a signal to the power management module, and the power management module then forwards the signal from the control module to the vehicle controller 33. It should be noted that the power management module here can preprocess the signal from the control module or send it directly to the vehicle controller 33 without processing; finally, the vehicle controller 33 controls the vehicle based on the signal sent by the control module.

[0217] In some embodiments, the sum of the detection ranges of the detector units provides full-angle coverage around the outdoor work vehicle, such as... Figure 10 As shown, the detector unit in this application includes an ultrasonic sensor 18, and the sum of the detection ranges of the ultrasonic sensors 18 provides full-angle coverage around the outdoor work vehicle.

[0218] In some embodiments, the installation height of the detector unit on the outdoor work vehicle is 345mm to 380mm. Further, the installation height of the detector unit on the outdoor work vehicle is 345mm, 360mm or 380mm.

[0219] In some embodiments, the preset angle range of the detector unit relative to the horizontal plane is 10° to 20°. In some embodiments, the preset angle range of the detector unit relative to the horizontal plane is 10°, 15°, or 20°.

[0220] In some embodiments, the control module is signal-connected to the vehicle controller 33, and the vehicle controller 33 can adjust the vehicle's driving path and / or operating status according to the signals transmitted by the control module. This configuration is to achieve obstacle avoidance for outdoor work vehicles during operation.

[0221] This application is not limited to the specific embodiments described above. Those skilled in the art will readily understand that many alternative solutions exist without departing from the principles and scope of this application. The scope of protection of this application is determined by the claims.

Claims

1. An outdoor work vehicle, characterized in that, include: Frame; A battery compartment, fixed to the vehicle frame, is configured to house a battery pack; A cover, at least covering a portion of the vehicle frame; At least one of the battery compartment and the cover has an outer contour structure with non-zero curvature; A detection component is used to detect the location information and / or surrounding environmental information of the outdoor work vehicle; A connecting component is provided to connect the detection component to the outer contour structure, wherein the connecting component is at least partially adapted to the shape of the outer contour structure.

2. The outdoor work vehicle according to claim 1, characterized in that: The outer contour structure includes at least a first contour surface and a second contour surface with different heights. In the horizontal direction, the connecting component includes a first connector, and the first connector includes at least a first adapter surface and a second adapter surface with different heights. When the first connector is installed on the outer contour structure, the first contour surface and the first adapter surface are spatially correspondingly arranged, and the second contour surface and the second adapter surface are spatially correspondingly arranged.

3. The outdoor work vehicle according to claim 1, characterized in that: The cover includes a left cover located on the left side of the frame and a right cover located on the right side of the frame. In the horizontal direction, both the left cover and the right cover include a first profile surface and a second profile surface with different heights.

4. The outdoor work vehicle according to claim 1, characterized in that: The connection component includes a first connector and a second connector. Both the first connector and the second connector are provided with connection positions for connecting the detection component. The first connector and its connection positions are at a preset angle, and the second connector and its connection positions are at a preset angle.

5. The outdoor work vehicle according to claim 4, characterized in that: The connection position of the first connector or the connection position of the second connector is configured to accommodate a hollow structure in which the detection component is fixed.

6. The outdoor work vehicle according to claim 1, characterized in that: Multiple detection components are provided, and the height difference between two adjacent detection components in the vertical direction is 5mm to 12mm.

7. The outdoor work vehicle according to claim 1, characterized in that: The detection components include one or more of ultrasonic sensors, visual sensors, and lidar.

8. An outdoor work vehicle, characterized in that, include: Frame; The battery compartment is located at the rear of the vehicle frame; A cover, including a left cover and a right cover, the left cover and the right cover covering at least a portion of the vehicle frame; At least one of the battery compartment, the left cover, and the right cover has an outer contour structure with non-zero curvature; At least two detection components are used to detect environmental information around the outdoor work vehicle; A connection component is provided to connect the detection component to the outdoor work vehicle. The connection component includes multiple connectors, at least one of which is adapted to the shape of the outer contour structure.

9. The outdoor work vehicle according to claim 8, characterized in that: The connection component includes a first connector and a second connector. Both the first connector and the second connector are provided with connection positions for connecting the detection component. The first connector and its connection positions are at a preset angle, and the second connector and its connection positions are at a preset angle.

10. The outdoor work vehicle according to claim 9, characterized in that: The first connector includes a first mounting bracket and a second mounting bracket that are connected to each other. The detection component can be detachably mounted on the first mounting bracket, and the second mounting bracket can be fixed to the vehicle frame.

11. An outdoor work vehicle, characterized in that, include: Frame; A cover, at least covering a portion of the vehicle frame, the cover having an outer contour structure with non-zero curvature; A detection component is used to detect the location information and / or surrounding environmental information of the outdoor work vehicle; A connecting component is provided to connect the detection component to the outer contour structure, wherein the connecting component is at least partially adapted to the shape of the outer contour structure.

12. The outdoor work vehicle according to claim 11, characterized in that: The outer contour structure includes at least different first contour surfaces and second contour surfaces. In the horizontal direction, the connecting component includes a first connector, which includes at least different first adapter surfaces and second adapter surfaces. When the first connector is installed on the outer contour structure, the first contour surface and the first adapter surface are spatially corresponding, and the second contour surface and the second adapter surface are spatially corresponding.

Images