A harvesting device and garden robot system

Abstract

The application is suitable for the field of robot technology, and provides a harvesting device and a garden robot system. The harvesting device is used for harvesting target objects on a working plane. The harvesting device comprises a harvesting module, a recycling container and a recycling channel. The harvesting module comprises a cutter head cover and a cutter assembly rotatably installed in the cutter head cover. The recycling channel comprises an inlet communicated with the cutter head cover and a discharge port communicated with a material collecting cavity of the recycling container. In the extension direction of the recycling channel, from the side close to the inlet to the side close to the discharge port, the top wall and the bottom wall of the recycling channel are partially or entirely inclined upward, and the cross-sectional area of the recycling channel gradually decreases, wherein the cross section of the recycling channel is perpendicular to the working plane. In this way, the projection angle and the projection height of the target objects are increased, and the wind speed of the discharge port is improved, so that the target objects can be accumulated in the area relatively far from the discharge port in the material collecting cavity, and the risk of clogging of the harvesting device is reduced.

Description

Technical Field

[0001] This application relates to the field of robotics, and more specifically, to a harvesting device and a garden robot system. Background Technology

[0002] With the rapid development of agricultural mechanization and garden management, lawnmowers, as the core equipment for lawn maintenance, can not only cut grass but also collect it. A lawnmower mainly consists of a cutting mechanism, a collection pipe, and a collection frame. The cutting mechanism is connected to the collection frame through the collection pipe, so that the grass cut by the cutting mechanism can be transported to the collection frame through the collection pipe.

[0003] However, current lawnmowers generally face grass clogging issues during long-term use. Although some lawnmowers have grass guiding mechanisms to straighten the grass before cutting and collecting it, this method cannot effectively ensure that the grass leaves can continue to enter the collection pipe in a relatively neat posture after being cut, and grass clogging is still likely to occur. Utility Model Content

[0004] The purpose of this application is to provide a harvesting device and a garden robot system, which aims to solve the technical problem that grass cutting equipment in the prior art is prone to grass clogging.

[0005] To achieve the above objectives, the technical solution adopted in this application is: to provide a harvesting device for moving on a working plane and harvesting target objects, the harvesting device comprising:

[0006] The harvesting module includes a cutter head cover and a cutter assembly, wherein the cutter assembly is rotatably mounted inside the cutter head cover;

[0007] The recycling container has a material collection chamber;

[0008] The recycling channel includes an inlet and a outlet. The inlet is connected to the cutter head cover, and the outlet is connected to the collection chamber. The recycling channel also includes a top wall and a bottom wall. Along the extension direction of the recycling channel, from the side near the inlet to the side near the outlet, both the top wall and the bottom wall are partially or entirely inclined upwards, and the cross-sectional area of ​​part or all of the recycling channel gradually decreases. The cross-section of the recycling channel is perpendicular to the working plane.

[0009] Optionally, in the cross-section of the recycling channel, the portion corresponding to the top wall is the top wall truncated edge, and the portion corresponding to the bottom wall is the bottom wall truncated edge; the inclination of the top wall is the angle between the tangent of the top wall at each of the top wall truncated edges and the working plane, and the inclination of the bottom wall is the angle between the tangent of the bottom wall at each of the bottom wall truncated edges and the working plane;

[0010] In the same cross-section of the recycling channel, the inclination of the bottom wall at the corresponding bottom wall section is greater than or equal to the inclination of the top wall at the corresponding top wall section.

[0011] Optionally, along the extension direction of the recycling channel, from the side near the feed inlet to the side near the discharge outlet, the distance between the top wall section and the bottom wall section in part or all of the cross-section of the recycling channel gradually decreases, and the rate of decrease is constant or gradually decreases.

[0012] Optionally, in the cross-section of the recycling channel, the portion corresponding to the bottom wall is a bottom wall truncated edge, and the inclination of the bottom wall is the angle between the tangent of the bottom wall at each bottom wall truncated edge and the working plane;

[0013] The bottom wall includes a first area and a second area. The first area is closer to the feed inlet than the second area, and the second area is closer to the discharge outlet than the first area. The height of the first area relative to the working plane is less than the height of the second area relative to the working plane.

[0014] Along the extension direction of the recycling channel, from the side near the feed inlet to the side near the discharge outlet, the minimum inclination of the first zone is greater than or equal to the maximum inclination of the second zone.

[0015] Optionally, along the extension direction of the recycling channel, from the side near the feed inlet to the side near the discharge outlet, the inclination of the first zone and the inclination of the second zone are both fixed, or one of the inclinations of the first zone and the second zone is fixed while the other gradually decreases, or both the inclinations of the first zone and the second zone gradually decrease.

[0016] The first region and the second region are connected at an interval; or, the first region and the second region are directly connected, and at the connection between the first region and the second region, the inclination of the first region is greater than or equal to the inclination of the second region.

[0017] Optionally, in the cross-section of the recycling channel, the portion corresponding to the top wall is a top wall truncated edge, and the inclination of the top wall is the angle between the tangent of the top wall at each of the top wall truncated edges and the working plane;

[0018] The top wall includes a third zone and a fourth zone. The third zone is closer to the feed inlet than the fourth zone, and the fourth zone is closer to the discharge outlet than the third zone. The height of the third zone relative to the working plane is less than the height of the fourth zone relative to the working plane.

[0019] Along the extension direction of the recycling channel, from the side near the feed inlet to the side near the discharge outlet, the maximum value of the inclination of the third zone is less than or equal to the minimum value of the inclination of the fourth zone.

[0020] Optionally, along the extension direction of the recycling channel, from the side near the feed inlet to the side near the discharge outlet, the inclination of the third zone and the inclination of the fourth zone are both fixed, or one of the inclinations of the third zone and the fourth zone is fixed while the other gradually increases, or both the inclinations of the third zone and the fourth zone gradually increase.

[0021] The third region and the fourth region are connected at an interval; or, the third region and the fourth region are directly connected, and at the connection between the third region and the fourth region, the inclination of the third region is less than or equal to the inclination of the fourth region.

[0022] Optionally, the recycling channel further includes a first sidewall and a second sidewall spaced apart along a preset direction, the preset direction being parallel to the working plane and perpendicular to the extending direction of the recycling channel; in the cross-section of the recycling channel, the portion corresponding to the first sidewall is a first truncated edge, and the portion corresponding to the second sidewall is a second truncated edge, wherein:

[0023] Along the extension direction of the recycling channel, from the side near the feed inlet to the side near the discharge outlet, the distance between the first and second cut-off sides in a portion or the entire cross-section of the recycling channel gradually decreases, and the rate of decrease is constant or gradually decreases.

[0024] And / or,

[0025] The first and second cut edges are symmetrically arranged with respect to the first axis, which passes through the center point of the cross-section of the recycling channel and is perpendicular to the working plane.

[0026] Optionally, the height of the lowest point of the feed inlet relative to the working plane is less than or equal to the height of the lowest point of the cutter head cover relative to the working plane.

[0027] Optionally, there are multiple cutter head covers and multiple cutter assemblies, with each cutter head cover and multiple cutter assemblies being arranged in a one-to-one correspondence. Each cutter assembly is rotatably installed in the corresponding cutter head cover, and all of the multiple cutter head covers are connected to the feed port.

[0028] Optionally, the harvesting device further includes a body and a drive module. The harvesting module, the recycling container, the recycling channel, and the drive module are all disposed on the body. The drive module is used to drive the body to move on the working plane.

[0029] This application also provides a garden robot system, including a base station and a harvesting device provided by any of the above technical solutions, wherein the base station is used to provide at least one of charging, recycling, docking, cleaning and positioning for the harvesting device.

[0030] The beneficial effects of the harvesting device provided in this application are as follows: Compared with the prior art, the harvesting device of this application can be applied to lawnmowers or other harvesting equipment. When the harvesting device is applied to a lawnmower, the harvesting module in the harvesting device can be used to harvest grass blades. The cutting blade assembly rotates to cut the grass blades and throws them into the feed inlet. During the rotation of the cutting blade assembly, airflow is generated. Under the blowing of the airflow and the guiding effect of the recycling channel, the grass blades can be blown into the collection chamber of the recycling container. Since the top and bottom walls of the recycling channel are partially or entirely inclined upward towards the discharge port, the grass blades have a larger projection angle when they are blown out of the discharge port, and the discharge port is also higher than the feed inlet, thereby increasing the projection height of the grass blades when they are discharged from the discharge port. Thus, the projection angle and projection height of the grass blades when they are discharged from the discharge port are increased simultaneously, so that the grass blades can accumulate in the area of ​​the collection chamber relatively far away from the discharge port as much as possible, thereby reducing the possibility of clogging of the discharge port. Furthermore, since the cross-sectional area of ​​the recycling channel is smaller closer to the discharge port, according to the principle that "under the same air volume, the smaller the cross-sectional area, the higher the air velocity", this setting makes the air velocity higher in the area closer to the discharge port in the recycling channel, which is more conducive to throwing grass blades into the collection chamber relative to the area farther away from the discharge port, effectively reducing the possibility of grass blades clogging in the recycling channel.

[0031] The beneficial effects of the garden robot system provided in this application are as follows: Compared with the prior art, since the garden robot system provided in this application includes the harvesting device provided by any of the above technical solutions, it has at least all of the above beneficial effects, which will not be repeated here. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is a schematic diagram of the overall structure of a harvesting device provided in one embodiment of this application;

[0034] Figure 2 This is an exploded view of the parts of a harvesting device provided in one embodiment of this application;

[0035] Figure 3 This is a half-sectional structural schematic diagram of a harvesting device provided in one embodiment of this application;

[0036] Figure 4 This is an exploded view of some parts of a harvesting device provided in one embodiment of this application;

[0037] Figure 5 This is a cross-sectional schematic diagram of the recycling channel in a harvesting device provided in one embodiment of this application;

[0038] Figure 6 This is a half-sectional structural schematic diagram of a harvesting device provided in another embodiment of this application.

[0039] The details of the reference numerals used in the above figures are as follows:

[0040] 100. Harvesting module; 110. Cutter head cover; 111. Upper wall; 112. First peripheral wall; 113. Second peripheral wall; 114. Mounting part; 115. Receiving cavity; 120. Cutter assembly; 200. Recycling container; 210. Collection cavity; 220. Collection port; 300. Recycling channel; 310. Feed inlet; 320. Discharge port; 330. Bottom wall; 331. First zone; 332. Second zone; 340. Top wall; 341. Third zone; 342. Fourth zone; 350. First side wall; 360. Second side wall; 400. Machine body; 500. Drive module; 510. Walking wheel; 520. Second drive unit; 600. Power assembly. Detailed Implementation

[0041] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0042] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0043] It should be understood that the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the structure or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0044] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0045] To illustrate the technical solutions described in this application, the following detailed description is provided in conjunction with specific drawings and embodiments.

[0046] like Figures 1 to 3 As shown, one embodiment of this application provides a harvesting device for moving on a working plane and harvesting target objects. The harvesting device includes a harvesting module 100, a recovery container 200, and a recovery channel 300. The harvesting module 100 includes a cutter head cover 110 and a cutter assembly 120, the cutter assembly 120 being rotatably mounted inside the cutter head cover 110. The recovery container 200 has a collection chamber 210. The recovery channel 300 includes a feed inlet 310 and a discharge outlet 320, the feed inlet 310 communicating with the cutter head cover 110 and the discharge outlet 320 communicating with the collection chamber 210. The recovery channel 300 also includes a top wall 340 and a bottom wall 330, extending along the extension direction of the recovery channel 300 from the side near the feed inlet 310 to the side near the discharge outlet 320, both the top wall 340 and the bottom wall 330 being partially or entirely inclined upwards. Furthermore, along the extension direction of the recycling channel 300, from the side near the feed inlet 310 to the side near the discharge outlet 320, the cross-sectional area of ​​part or all of the recycling channel 300 gradually decreases, wherein the cross-section of the recycling channel 300 is perpendicular to the working plane.

[0047] The harvesting device provided in this application embodiment can be applied to lawnmowers or other harvesting equipment. When the harvesting device is applied to a lawnmower, the target material for harvesting is grass. For ease of description, the following description will use the application of the harvesting device to a lawnmower as an example.

[0048] Specifically, the harvesting module 100 in the harvesting device can be used to harvest grass blades. The cutter assembly 120 rotates to cut the grass blades and throws them into the feed inlet 310. During the rotation of the cutter assembly 120, airflow is generated. Under the blowing of the airflow and the guiding effect of the recycling channel 300, the grass blades can be blown into the collection chamber 210 of the recycling container 200. Since the top wall 340 and bottom wall 330 of the recycling channel 300 are partially or entirely inclined upward towards the discharge port 320, the grass blades have a larger projection angle when they are blown out of the discharge port 320. Furthermore, the discharge port 320 is higher than the feed inlet 310, thereby increasing the projection height of the grass blades when they are discharged from the discharge port 320. Thus, the projection angle and projection height of the grass blades when they are discharged from the discharge port 320 are increased simultaneously, so that the grass blades can accumulate in the area of ​​the collection chamber 210 relatively far away from the discharge port 320 as much as possible, thereby reducing the possibility of blockage of the discharge port 320. Furthermore, since the cross-sectional area of ​​the area of ​​the recycling channel 300 closer to the discharge port 320 is smaller, according to the principle that "under the same air volume, the smaller the cross-sectional area, the higher the air velocity", this setting makes the air velocity in the area of ​​the recycling channel 300 closer to the discharge port 320 higher, which is more conducive to throwing grass blades into the collection chamber 210 relative to the area far away from the discharge port 320, effectively reducing the possibility of grass blades clogging in the recycling channel 300.

[0049] In summary, the harvesting device provided in this application embodiment is less likely to become clogged.

[0050] In some embodiments, such as Figure 3 or Figure 4As shown, the recycling container 200 has a collection port 220 communicating with the collection chamber 210. The collection port 220 is opposite to the discharge port 320, so that the discharge port 320 communicates with the collection chamber 210, and grass blades can enter the collection chamber 210 through the discharge port 320 and the collection port 220. In some embodiments, the height difference between the highest point of the recycling channel 300 and the lowest point of the cutter head cover 110 can be between 140mm and 310mm. Specifically, the height of the highest point of the recycling channel 300 from the bottom surface of the cutter head cover 110 can be 140mm, 150mm, 300mm, or 310mm, etc. It should be noted that the position of the highest point of the recycling channel 300 is the position corresponding to the top edge of the section where the discharge port 320 is located in the multiple sections of the recycling channel 300. The greater the height difference between the highest point of the recovery channel 300 and the lowest point of the cutter head cover 110, the greater the height difference between the discharge port 320 and the lowest point of the cutter head cover 110. This means the discharge port 320 is higher than the working plane, and consequently, the collection port 220 is also higher than the working plane. Therefore, the recovery container 200 is also higher than the working plane. In this embodiment, the height difference between the highest point of the recovery channel 300 and the lowest point of the cutter head cover 110 is set between 140mm and 310mm. This ensures a certain height for the discharge port 320, allowing the grass blades to be discharged with a higher projection height. Simultaneously, it prevents the recovery channel 300 from being too high, thus preventing the recovery container 200 from being too high and maintaining the balance of the harvesting device.

[0051] In the cross-section of the recycling channel 300, such as Figure 5 As shown, the portion corresponding to the top wall 340 is the top wall truncated edge, and the portion corresponding to the bottom wall 330 is the top wall truncated edge. The inclination of the top wall 340 is the angle between the tangent surface of the top wall 340 at each top wall truncated edge and the working plane, and the inclination of the bottom wall 330 is the angle between the tangent surface of the bottom wall 330 at each bottom wall truncated edge and the working plane. Optionally, in the cross-section of the same recycling channel 300, the inclination of the bottom wall 330 at the corresponding bottom wall truncated edge is greater than or equal to the inclination of the top wall 340 at the corresponding top wall truncated edge. This arrangement, on the one hand, allows the cross-sectional area of ​​the recycling channel 300 closer to the discharge port 320 to be smaller, thereby further increasing the wind speed in the area of ​​the recycling channel 300 close to the discharge port 320, and further reducing the risk of the recycling channel 300 being blocked by material; on the other hand, it avoids the recycling channel 300 from being too high, so as to maintain the balance of the harvesting device.

[0052] Optionally, the bottom wall 330 can be a plane, a curved surface, or other irregular plane. When the bottom wall 330 is a curved surface, the inclination of different regions of the bottom wall 330 may not be equal along the extension direction of the recycling channel 300. Optionally, the inclination of the bottom wall 330 can be between 20 degrees and 50 degrees. For example, the inclination of the bottom wall 330 can be 20 degrees, 25 degrees, 33 degrees, 45 degrees, or 50 degrees, etc.

[0053] Optionally, the top wall 340 can be a plane, a curved surface, or other irregular plane. When the top wall 340 is curved, the inclination of different regions of the top wall 340 may not be equal along the extension direction of the recycling channel 300. Optionally, the inclination of the top wall 340 can be between 4 degrees and 43 degrees. For example, the inclination of the top wall 340 can be 4 degrees, 5 degrees, 30 degrees, 40 degrees, or 43 degrees, etc.

[0054] In some embodiments, such as Figure 2 As shown, the cutter head cover 110 includes a mounting portion 114, an upper wall 111, a first peripheral wall 112, and a second peripheral wall 113. The upper wall 111 surrounds the outer periphery of the mounting portion 114 and spirals upwards circumferentially along the mounting portion 114, connecting with the side of the top wall 340 of the recovery channel 300 near the feed inlet 310. The first peripheral wall 112 is located on the side of the upper wall 111 near the mounting portion 114 and surrounds at least a portion of the outer periphery of the mounting portion 114. The lower side of the first peripheral wall 112 connects with the outer peripheral edge of the mounting portion 114, and the upper side connects with the upper wall 111. The second peripheral wall 113 surrounds the side of the upper wall 111 away from the mounting portion 114 and extends downwards from the upper wall 111. Figure 2 and Figure 4 As shown, the mounting part 114, the first peripheral wall 112, the upper wall 111 and the second peripheral wall 113 surround and form a receiving cavity 115, and the cutter assembly 120 is located in the receiving cavity 115 and is rotatably mounted on the mounting part 114.

[0055] Optionally, the harvesting device further includes a power assembly 600, which is mounted on the mounting portion 114 and connected to the cutter assembly 120. The power assembly 600 drives the cutter assembly 120 to rotate, thereby harvesting the target material. In one example, the power assembly 600 includes a first drive unit and an output shaft. The first drive unit is mounted on the side of the mounting portion 114 opposite to the receiving cavity 115. The mounting portion 114 has a through hole. One end of the output shaft is connected to the first drive unit, and the other end extends through the through hole into the receiving cavity 115 and is connected to the cutter assembly 120. The cutter assembly 120 includes at least one blade, which is fixedly connected to the output shaft. The first drive unit drives the output shaft to rotate, thereby causing the blade to rotate to harvest the target material. Optionally, the cutter assembly 120 may have multiple blades, which are circumferentially spaced around the output shaft and fixedly connected to it, thereby improving the harvesting efficiency of the cutter assembly 120. Optionally, the first drive unit can be a rotary motor or other structure capable of driving the output shaft to rotate.

[0056] Because the upper wall 111 spirals upwards circumferentially along the mounting portion 114 and connects with the side of the top wall 340 of the recycling channel 300 near the feed inlet 310, the connection point between the upper wall 111 and the top wall 340 of the recycling channel 300 is the highest point of the upper wall 111. This arrangement causes the airflow generated during the rotation of the cutter assembly 120 to undergo a spiral acceleration process, resulting in the airflow entering the recycling channel 300 through the feed inlet 310 at a higher wind speed. As it flows along the recycling channel 300 to the discharge outlet 320, the wind speed is further increased, resulting in it being blown out of the discharge outlet 320 at an even higher wind speed. Therefore, the cutter head cover 110 with the above structure can further increase the wind speed used to blow the grass blades out of the discharge outlet 320, which is beneficial for improving collection efficiency and also helps to further reduce the possibility of clogging of the harvesting device.

[0057] The angle between the tangent plane of the upper wall 111 at its lowest point and the working plane is the helix inlet angle of the upper wall 111, and the angle between the tangent plane of the upper wall 111 at its highest point and the working plane is the helix outlet angle of the upper wall 111. In some embodiments, the helix inlet angle and the helix outlet angle can be between 2 degrees and 22 degrees. Optionally, the helix inlet angle can be 2 degrees, 3 degrees, 6 degrees, 20 degrees, or 22 degrees. Optionally, the helix helix angle can be 2 degrees, 3 degrees, 6 degrees, 20 degrees, or 22 degrees. In some embodiments, the spiral exit angle is greater than the spiral entry angle, so that the spiral entry angle and spiral exit angle form a step difference. In this way, when the grass blades move along the upper wall 111 to the feed inlet 310 under the drive of the airflow, the airflow speed can be higher, so that the grass blades can enter the recycling channel 300 through the feed inlet 310 with greater kinetic energy and projection angle. This is more conducive to the grass blades being projected from the discharge port 320 to the area of ​​the collection chamber 210 that is relatively far away from the discharge port 320, thereby reducing the risk of blockage.

[0058] Optionally, the difference between the spiral exit angle and the spiral entry angle is greater than or equal to 2 degrees. Optionally, the height difference between the lowest and highest points of the upper wall 111 is greater than or equal to 10 mm. This setting is more conducive to increasing the airflow velocity, thereby increasing the kinetic energy of the grass blades when they enter the feed inlet 310. Optionally, the minimum inclination of the top wall 340 is greater than or equal to the spiral exit angle, which is conducive to further increasing the airflow velocity after entering the recovery channel 300.

[0059] Optionally, along the extending direction of the recycling channel 300, from the side near the inlet 310 to the side near the outlet 320, the distance between the top and bottom wall sections in a portion or the entire cross-section of the recycling channel 300 gradually decreases, and the rate of decrease is constant or gradually decreases. It is understood that the recycling channel 300 has multiple cross-sections along its extending direction. In some embodiments, one cross-section is designated as the calibration cross-section, the distance between the top and bottom wall sections in the calibration cross-section is X0, the distance between the top and bottom wall sections in any other cross-section is X1, and the distance between these two cross-sections is L1. The ratio of the difference between X0 and X1 to L1 represents the rate of decrease in the distance between the top and bottom wall sections in any other cross-section. In some embodiments, the calibration cross-section can be the cross-section where the inlet is located or the cross-section where the outlet is located.

[0060] Based on the above configuration, by making the cross-sectional area of ​​the area of ​​the recycling channel 300 closer to the discharge port 320 smaller, it is possible to avoid the situation where the cross-sectional area of ​​the area of ​​the recycling channel 300 closer to the discharge port 320 is too small, which would cause the discharge port 320 to become blocked. This not only increases the wind speed in the area of ​​the recycling channel 300 closer to the discharge port 320 to a certain extent, but also effectively reduces the possibility of the discharge port 320 becoming blocked.

[0061] Optionally, such as Figure 6 As shown, the bottom wall 330 includes a first zone 331 and a second zone 332. The first zone 331 is closer to the feed inlet 310 than the second zone 332, and the second zone 332 is closer to the discharge outlet 320 than the first zone 331. The height of the first zone 331 relative to the working plane is less than the height of the second zone 332 relative to the working plane. Along the extension direction of the recycling channel 300, from the side closer to the feed inlet 310 to the side closer to the discharge outlet 320, the minimum inclination of the first zone 331 is greater than or equal to the maximum inclination of the second zone 332. Because the first zone 331 is closer to the feed inlet 310, setting a larger inclination of the first zone 331 helps to quickly increase the wind speed, so as to quickly blow the grass blades out of the discharge outlet 320, thereby improving collection efficiency. Furthermore, since the second zone 332 is closer to the feed inlet 310, its inclination is set to be smaller than that of the first zone 331. This effectively prevents the second zone 332 from obstructing the movement of grass blades towards the discharge outlet 320, allowing the grass blades to be discharged more smoothly through the discharge outlet 320. In summary, this embodiment optimizes the movement path of the grass by segmenting the inclination of the bottom wall 330, further reducing the possibility of blockage and improving collection efficiency.

[0062] In some embodiments, along the extending direction of the recycling channel 300, from the side near the feed inlet 310 to the side near the discharge outlet 320, the inclination of the first zone 331 and the inclination of the second zone 332 remain constant. This arrangement simplifies the structure of the recycling channel 300, facilitates manufacturing, and helps improve the reliability of the harvesting device.

[0063] In other embodiments, along the extension direction of the recycling channel 300, from the side near the inlet 310 to the side near the outlet 320, one of the inclinations of the first zone 331 and the second zone 332 remains constant, while the other gradually decreases. Since the minimum inclination of the first zone 331 is greater than or equal to the maximum inclination of the second zone 332, and the second zone 332 is located on the side of the first zone 331 near the outlet 320, as the inclination of the first zone 331 gradually decreases from the side near the inlet 310 to the side near the outlet 320, the inclination of the area of ​​the first zone 331 closer to the second zone 332 becomes closer to the inclination of the second zone 332. This allows for a smoother transition between the first zone 331 and the second zone 332, improving the smoothness of grass blades passing through the recycling channel 300. When the inclination of the second zone 332 gradually decreases from the side closer to the feed inlet 310 to the side closer to the discharge outlet 320, it can effectively prevent the second zone 332 from blocking the grass blades from moving to the discharge outlet 320, so that the grass blades can be discharged more smoothly through the discharge outlet 320 to the collection chamber 210.

[0064] In some other embodiments, along the extension direction of the recycling channel 300, from the side near the feed inlet 310 to the side near the discharge outlet 320, the inclination of the first zone 331 and the inclination of the second zone 332 gradually decrease. This arrangement helps to further improve the smoothness of grass blades passing through the recycling channel 300.

[0065] In some embodiments, the first zone 331 and the second zone 332 are connected at an interval. Exemplarily, the bottom wall 330 also includes a first transition zone located between the first zone 331 and the second zone 332, which are connected at an interval. Optionally, along the extending direction of the recycling channel 300, from the side near the inlet 310 to the side near the outlet 320, the inclination of the first transition zone gradually decreases, and the inclination of the first transition zone near the first zone 331 is less than or equal to the minimum inclination of the first zone 331, while the inclination of the first transition zone near the second zone 332 is greater than or equal to the maximum inclination of the second zone 332. This configuration further improves the smoothness of the bottom wall 330, thereby improving the smoothness of the grass blades passing through the recycling channel 300.

[0066] In other embodiments, such as Figure 6 As shown, the first zone 331 and the second zone 332 are directly connected, and at the connection between the first zone 331 and the second zone 332, the inclination of the first zone 331 is greater than or equal to the inclination of the second zone 332. In this way, the structural complexity of the bottom wall 330 in the recycling channel 300 can be reduced, making it easier to manufacture, and to some extent, it can also improve the smoothness of grass blades passing through the recycling channel 300.

[0067] Optionally, along the extension direction of the recycling channel 300, from the side near the inlet 310 to the side near the outlet 320, the cross-sectional area of ​​the recycling channel 300 corresponding to the first zone 331 gradually decreases. It should be noted that the cross-section of the recycling channel 300 corresponding to the first zone 331 specifically refers to the cross-section of the recycling channel 300 that intersects with the first zone 331 among the multiple cross-sections of the recycling channel 300. This arrangement helps to increase the airflow velocity as it flows along the recycling channel 300 corresponding to the first zone 331 towards the outlet 320, thereby improving collection efficiency.

[0068] Optionally, along the extension direction of the recycling channel 300, from the side near the inlet 310 to the side near the outlet 320, the cross-sectional area of ​​the recycling channel 300 corresponding to the second zone 332 gradually decreases. It should be noted that the cross-section of the recycling channel 300 corresponding to the second zone 332 specifically refers to the cross-section of the recycling channel 300 that intersects with the second zone 332 among the multiple cross-sections of the recycling channel 300. This arrangement helps to increase the airflow velocity as it flows along the recycling channel 300 corresponding to the second zone 332 towards the outlet 320, thereby improving collection efficiency.

[0069] Optionally, such as Figure 6 As shown, the top wall 340 includes a third zone 341 and a fourth zone 342. The third zone 341 is closer to the feed inlet 310 than the fourth zone 342, and the fourth zone 342 is closer to the discharge outlet 320 than the third zone 341. The height of the third zone 341 relative to the working plane is less than the height of the fourth zone 342 relative to the working plane. Along the extension direction of the recycling channel 300, from the side closer to the feed inlet 310 to the side closer to the discharge outlet 320, the maximum value of the inclination of the third zone 341 is less than or equal to the minimum value of the inclination of the fourth zone 342. Therefore, in this embodiment, the inclination of the third zone 341 is smaller than the inclination of the fourth zone 342, or the inclination of the third zone 341 is equal to the inclination of the fourth zone 342. If the inclination of the third zone 341 is smaller than that of the fourth zone 342, since the fourth zone 342 is closer to the discharge port 320 than the third zone 341, and the cross-sectional area of ​​the recycling channel 300 is smaller the closer it is to the discharge port 320, the wind speed is higher when the airflow reaches the recycling channel 300 corresponding to the fourth zone 342. Therefore, by setting the inclination of the fourth zone 342 to be larger, it is beneficial to increase the thrust of the airflow on the grass blades and accelerate the blowing of the grass blades to the area of ​​the collection chamber 210 that is relatively far away from the discharge port 320.

[0070] In some embodiments, along the extending direction of the recycling channel 300, from the side near the feed inlet 310 to the side near the discharge outlet 320, the inclination of the third zone 341 and the inclination of the fourth zone 342 remain constant. This arrangement simplifies the structure of the recycling channel 300, facilitates manufacturing, and helps improve the reliability of the harvesting device.

[0071] In other embodiments, along the extension direction of the recycling channel 300, from the side near the inlet 310 to the side near the outlet 320, one of the inclinations of the third zone 341 and the fourth zone 342 remains constant, while the other gradually increases. Since the maximum value of the inclination of the third zone 341 is less than or equal to the minimum value of the inclination of the fourth zone 342, and the fourth zone 342 is located on the side of the third zone 341 near the outlet 320, when the inclination of the third zone 341 gradually increases from the side near the inlet 310 to the side near the outlet 320, the inclination of the area of ​​the third zone 341 closer to the fourth zone 342 can be made closer to the inclination of the fourth zone 342. In this way, the transition between the third zone 341 and the fourth zone 342 can be smoother, thereby improving the smoothness of grass blades passing through the recycling channel 300. When the inclination of the fourth zone 342 gradually increases from the side closer to the feed inlet 310 to the side closer to the discharge outlet 320, it is more conducive to increasing the thrust of the airflow on the grass blades, so that the grass blades can be blown to the area of ​​the collection chamber 210 relative to the discharge outlet 320 more quickly.

[0072] In some other embodiments, along the extension direction of the recycling channel 300, from the side near the inlet 310 to the side near the outlet 320, the inclination of the third zone 341 and the inclination of the fourth zone 342 gradually increase. This arrangement improves the smoothness of grass blades passing through the recycling channel 300 and also facilitates blowing the grass blades into the area of ​​the collection chamber 210 relative to the outlet 320.

[0073] In some embodiments, the third zone 341 and the fourth zone 342 are spaced apart and connected. Exemplarily, the top wall 340 also includes a second transition zone located between the third zone 341 and the fourth zone 342, which are spaced apart and connected. Optionally, along the extending direction of the recycling channel 300, from the side near the inlet 310 to the side near the outlet 320, the inclination of the second transition zone gradually increases, and the inclination of the second transition zone near the third zone 341 is greater than or equal to the minimum inclination of the third zone 341, while the inclination of the second transition zone near the fourth zone 342 is less than or equal to the maximum inclination of the fourth zone 342. This configuration further improves the smoothness of the top wall 340, thereby improving the smoothness of the grass blades passing through the recycling channel 300.

[0074] In other embodiments, such as Figure 6As shown, the third zone 341 and the fourth zone 342 are directly connected, and at the connection between the third zone 341 and the fourth zone 342, the inclination of the third zone 341 is less than or equal to the inclination of the fourth zone 342. This reduces the structural complexity of the top wall 340 of the recycling channel 300, facilitating manufacturing, and also improves the smoothness of grass blades passing through the recycling channel 300 to some extent.

[0075] Optionally, along the extension direction of the recycling channel 300, from the side near the inlet 310 to the side near the outlet 320, the cross-sectional area of ​​the recycling channel 300 corresponding to the third zone 341 gradually decreases. It should be noted that the cross-section of the recycling channel 300 corresponding to the third zone 341 specifically refers to the cross-section of the recycling channel 300 that intersects with the third zone 341 among the multiple cross-sections of the recycling channel 300. This arrangement helps to increase the airflow velocity as it flows along the recycling channel 300 corresponding to the third zone 341 towards the outlet 320, thereby improving collection efficiency.

[0076] Optionally, along the extension direction of the recycling channel 300, from the side near the inlet 310 to the side near the outlet 320, the cross-sectional area of ​​the recycling channel 300 corresponding to the fourth zone 342 gradually decreases. It should be noted that the cross-section of the recycling channel 300 corresponding to the fourth zone 342 specifically refers to the cross-section of the recycling channel 300 that intersects with the fourth zone 342 among the multiple cross-sections of the recycling channel 300. This arrangement helps to increase the airflow velocity as it flows along the recycling channel 300 corresponding to the fourth zone 342 towards the outlet 320, thereby improving collection efficiency.

[0077] In one possible design, such as Figure 5 As shown, the recycling channel 300 also includes a first sidewall 350 and a second sidewall 360 spaced apart along a preset direction. The preset direction is parallel to the working plane and perpendicular to the extension direction of the recycling channel 300. In the cross-section of the recycling channel 300, the portion corresponding to the first sidewall 350 is the first truncated edge, and the portion corresponding to the second sidewall 360 is the second truncated edge.

[0078] Optionally, along the extending direction of the recycling channel 300, from the side near the inlet 310 to the side near the outlet 320, the distance between the first and second side sections in a portion or the entire cross-section of the recycling channel 300 gradually decreases, and the rate of decrease remains constant or gradually decreases. In this embodiment, the first sidewall 350 and the second sidewall 360 can be arranged parallel to each other or at an angle. It should be noted that the distance between the first and second side sections in the cross-section of the recycling channel 300 can refer to the maximum distance between the first and second side sections, the minimum distance between the first and second side sections, or the distance between any two points directly opposite each other in a preset direction.

[0079] It should be noted that among the multiple cross sections of the recovery channel 300, the minimum distance between the first and second cross sections in the calibration cross section is Y0, the minimum distance between the first and second cross sections in any other cross section is Y1, and the distance between these two cross sections is L2. The ratio of the difference between Y0 and Y1 to L2 is the rate at which the distance between the first and second cross sections in any other cross section decreases.

[0080] This design also ensures that the cross-sectional area of ​​the area of ​​the recycling channel 300 closer to the discharge port 320 is smaller, thus avoiding the situation where the discharge port 320 becomes blocked due to an excessively small cross-sectional area. This not only increases the wind speed in the area of ​​the recycling channel 300 closer to the discharge port 320 to a certain extent, but also effectively reduces the possibility of blockage at the discharge port 320.

[0081] Optionally, the first and second cut edges are symmetrically arranged with respect to the first axis, which passes through the center point of the cut edge of the recycling channel 300 and is perpendicular to the working plane.

[0082] Optionally, the lowest point of the feed inlet 310 is at a height less than or equal to the lowest point of the cutter head cover 110 relative to the working plane. This arrangement ensures that the grass blades cut by the cutter assembly 120 inside the cutter head cover 110 all enter the feed inlet 310 and then pass through the recycling channel 300 into the collection chamber 210, thereby improving collection efficiency.

[0083] It is understandable that the height of the lowest point of the feed inlet 310 relative to the working plane specifically refers to the height of the bottom wall edge of the section where the feed inlet 310 is located relative to the working plane among the multiple sections of the recovery channel 300.

[0084] Optionally, the height of the highest point of the top surface of the receiving cavity 115 relative to the working plane is less than or equal to the height of the highest point of the feed inlet 310 relative to the working plane. Specifically, the highest point of the top surface of the receiving cavity 115 is the highest point of the upper wall 111 in the cutter head cover 110, that is, the junction of the upper wall 111 and the top wall 340 of the recovery channel 300. The height of the highest point of the feed inlet 310 relative to the working plane specifically refers to the height of the top wall edge of the section containing the feed inlet 310 relative to the working plane among the multiple sections of the recovery channel 300. This arrangement effectively prevents grass blades from being obstructed when entering the recovery channel 300 from the receiving cavity 115, thereby improving the smoothness of grass blade entry into the recovery channel 300 and improving collection efficiency.

[0085] Optionally, such as Figure 2 and Figure 4 As shown, there are multiple cutter head covers 110 and multiple cutter assemblies 120, with each cutter head cover 110 and cutter assemblies 120 corresponding to one another. Each cutter assembly 120 is rotatably mounted in its corresponding cutter head cover 110, and all cutter head covers 110 are connected to the feed inlet 310. This arrangement helps to improve the harvesting efficiency of the harvesting device.

[0086] For example, there are two cutter head covers 110 and two cutter assemblies 120. The two cutter head covers 110 are spaced apart along a preset direction and are both connected to the feed inlet 310. Each cutter head cover 110 has a cutter assembly 120 rotatably installed in it.

[0087] Optionally, such as Figure 1 and Figure 2 As shown, the harvesting device also includes a body 400 and a drive module 500. The harvesting module 100, the recycling container 200, the recycling channel 300, and the drive module 500 are all disposed on the body 400. The drive module 500 is used to drive the body 400 to move on the working plane. In this way, the harvesting device can move automatically on the working plane, improving the automation of the harvesting device and making operation simpler.

[0088] In some embodiments, the drive module 500 includes a second drive unit 520 and a plurality of traveling wheels 510. The plurality of traveling wheels 510 are circumferentially spaced around the machine body 400 and are rotatably mounted on the machine body 400. At least one of the plurality of traveling wheels 510 is connected to the second drive unit 520. The second drive unit 520 drives the traveling wheels 510 connected to it to roll on the working plane, thereby moving the machine body 400 on the working plane. Optionally, the second drive unit 520 can be a rotary motor or other structure capable of driving the traveling wheels 510 to roll.

[0089] Another embodiment of this application provides a garden robot system, including a base station and a harvesting device provided in any of the above embodiments. The base station is used to provide the harvesting device with at least one of charging, recycling, docking, cleaning, and positioning.

[0090] Since the garden robot system provided in this application includes the harvesting device provided in any of the above embodiments, it has at least all of the above-mentioned beneficial effects, which will not be repeated here.

[0091] The above description is merely an optional embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A harvesting device, characterized in that, For moving on a working plane and harvesting target objects; the harvesting device includes: The harvesting module (100) includes a cutter head cover (110) and a cutter assembly (120), the cutter assembly (120) being rotatably mounted inside the cutter head cover (110); A recycling container (200) having a collection chamber (210); A recycling channel (300) includes an inlet (310) and a outlet (320). The inlet (310) is connected to the cutter head cover (110), and the outlet (320) is connected to the collection chamber (210). The recycling channel (300) also includes a top wall (340) and a bottom wall (330). Along the extension direction of the recycling channel (300), from the side near the inlet (310) to the side near the outlet (320), the top wall (340) and the bottom wall (330) are partially or entirely inclined upwards, and the cross-sectional area of ​​part or all of the recycling channel (300) gradually decreases. The cross-section of the recycling channel (300) is perpendicular to the working plane.

2. The harvesting device as described in claim 1, characterized in that, In the cross-section of the recycling channel (300), the portion corresponding to the top wall (340) is the top wall truncated edge, and the portion corresponding to the bottom wall (330) is the bottom wall truncated edge; the inclination of the top wall (340) is the angle between the tangent surface of the top wall (340) at each of the top wall truncated edges and the working plane, and the inclination of the bottom wall (330) is the angle between the tangent surface of the bottom wall (330) at each of the bottom wall truncated edges and the working plane; In the same cross section of the recycling channel (300), the inclination of the bottom wall (330) at the corresponding bottom wall section is greater than or equal to the inclination of the top wall (340) at the corresponding top wall section.

3. The harvesting device as described in claim 2, characterized in that, Along the extension direction of the recycling channel (300), from the side near the feed inlet (310) to the side near the discharge outlet (320), the distance between the top wall section and the bottom wall section in part or all of the cross section of the recycling channel (300) gradually decreases, and the rate of decrease is constant or gradually decreases.

4. The harvesting device as described in claim 1, characterized in that, In the cross section of the recycling channel (300), the portion corresponding to the bottom wall (330) is the bottom wall truncated edge, and the inclination of the bottom wall (330) is the angle between the tangent of the bottom wall (330) at each bottom wall truncated edge and the working plane; The bottom wall (330) includes a first zone (331) and a second zone (332). The first zone (331) is closer to the feed inlet (310) than the second zone (332). The second zone (332) is closer to the discharge outlet (320) than the first zone (331). The height of the first zone (331) relative to the working plane is less than the height of the second zone (332) relative to the working plane. Along the extension direction of the recycling channel, from the side near the feed inlet (310) to the side near the discharge outlet (320), the minimum inclination of the first zone (331) is greater than or equal to the maximum inclination of the second zone (332).

5. The harvesting device as described in claim 4, characterized in that, Along the extension direction of the recycling channel (300), from the side near the feed inlet (310) to the side near the discharge outlet (320), the inclination of the first zone (331) and the inclination of the second zone (332) are both fixed, or one of the inclinations of the first zone (331) and the second zone (332) is fixed and the other gradually decreases, or the inclinations of the first zone (331) and the second zone (332) both gradually decrease; The first region (331) and the second region (332) are connected at intervals; or, the first region (331) and the second region (332) are directly connected, and at the connection between the first region (331) and the second region (332), the inclination of the first region (331) is greater than or equal to the inclination of the second region (332).

6. The harvesting device as described in claim 1, characterized in that, In the cross section of the recycling channel (300), the portion corresponding to the top wall (340) is the top wall truncated edge, and the inclination of the top wall (340) is the angle between the tangent of the top wall (340) at each of the top wall truncated edges and the working plane; The top wall (340) includes a third zone (341) and a fourth zone (342). The third zone (341) is closer to the feed inlet (310) than the fourth zone (342), and the fourth zone (342) is closer to the discharge outlet (320) than the third zone (341). The height of the third zone (341) relative to the working plane is less than the height of the fourth zone (342) relative to the working plane. Along the extension direction of the recycling channel (300), from the side near the feed inlet (310) to the side near the discharge outlet (320), the maximum value of the inclination of the third zone (341) is less than or equal to the minimum value of the inclination of the fourth zone (342).

7. The harvesting device as described in claim 6, characterized in that, Along the extension direction of the recycling channel (300), from the side near the feed inlet (310) to the side near the discharge outlet (320), the inclination of the third zone (341) and the inclination of the fourth zone (342) are both fixed, or one of the inclinations of the third zone (341) and the fourth zone (342) is fixed and the other gradually increases, or the inclinations of the third zone (341) and the fourth zone (342) gradually increase; The third region (341) and the fourth region (342) are connected at intervals; or, the third region (341) and the fourth region (342) are directly connected, and at the connection between the third region (341) and the fourth region (342), the inclination of the third region (341) is less than or equal to the inclination of the fourth region (342).

8. The harvesting apparatus according to any one of claims 1 to 7, characterized in that, The recycling channel (300) further includes a first sidewall (350) and a second sidewall (360) spaced apart along a preset direction, the preset direction being parallel to the working plane and perpendicular to the extension direction of the recycling channel (300); in the cross-section of the recycling channel (300), the portion corresponding to the first sidewall (350) is a first truncated edge, and the portion corresponding to the second sidewall (360) is a second truncated edge, wherein: Along the extending direction of the recycling channel (300), from the side near the feed inlet (310) to the side near the discharge outlet (320), the distance between the first and second cut edges in a portion or the whole of the cross section of the recycling channel (300) gradually decreases, and the rate of decrease is constant or gradually decreases. And / or, The first and second cut edges are symmetrically arranged with respect to the first axis, which passes through the center point of the cross section of the recycling channel (300) and is perpendicular to the working plane.

9. The harvesting apparatus according to any one of claims 1 to 7, characterized in that, The lowest point of the feed inlet (310) is at a height less than or equal to the height of the lowest point of the cutter head cover (110) relative to the working plane.

10. The harvesting apparatus according to any one of claims 1 to 7, characterized in that, There are multiple cutter head covers (110) and multiple cutter assemblies (120). The multiple cutter head covers (110) and multiple cutter assemblies (120) are arranged in a one-to-one correspondence. Each cutter assembly (120) is rotatably installed in the corresponding cutter head cover (110). The multiple cutter head covers (110) are all connected to the feed port (310).

11. The harvesting apparatus according to any one of claims 1 to 7, characterized in that, The harvesting device also includes a body (400) and a drive module (500). The harvesting module (100), the recycling container (200), the recycling channel (300) and the drive module (500) are all disposed on the body (400). The drive module (500) is used to drive the body (400) to move on the working plane.

12. A garden robot system, characterized in that, The system includes a base station and a harvesting apparatus as described in any one of claims 1 to 11, wherein the base station is used to provide the harvesting apparatus with at least one of charging, recycling, docking, cleaning, and positioning.

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