Collision sensing structure of mowing robot and mowing robot

Abstract

The embodiment of the application provides a mowing robot and a collision sensing structure of the mowing robot. The collision sensing structure comprises a support, a collision piece and a detection assembly. The collision piece is movably arranged at the bottom of the support. The detection assembly comprises a first element arranged on the support and a second element arranged on the collision piece. The collision piece drives the second element to move towards the first element under the action of external force, so that the detection assembly generates a detection signal. The collision sensing structure can improve the timeliness and accuracy of detection.

Description

Technical Field

[0001] This application relates to the field of lawn mowing robot technology, and in particular to a collision sensing structure for a lawn mowing robot and a lawn mowing robot. Background Technology

[0002] When a lawnmower robot is working, if the blades come into contact with hard objects such as rocks or tree roots, it can easily damage the blades, cause the machine to vibrate violently, or even go out of control, posing a safety hazard. Therefore, lawnmower robots are generally equipped with collision detection devices to detect obstacles. However, in some related technologies, the placement of collision detection devices is unreasonable, making it impossible to detect collisions at the bottom in time. In addition, some collision detection devices only use a single sensing element, which can easily lead to inaccurate signal judgment. Utility Model Content

[0003] In view of this, the embodiments of this application aim to provide a collision sensing structure for a lawnmower robot and a lawnmower robot that can improve the timeliness and accuracy of detection.

[0004] To achieve the above objectives, one embodiment of this application provides a collision sensing structure for a lawnmower robot, comprising:

[0005] Support components;

[0006] A collision element, which is movably disposed at the bottom of the support element;

[0007] The detection component includes a first element disposed on the support member and a second element disposed on the collision member; the collision member, under the action of an external force, drives the second element to move toward the first element, thereby generating a detection signal by the detection component.

[0008] In some embodiments, one of the first element and the second element is a Hall sensor, and the other is a magnet.

[0009] In some embodiments, the second element is located on the side of the impact member closer to the support member; and / or,

[0010] The support has a receiving cavity, and the first element is located within the receiving cavity of the support.

[0011] In some embodiments, the collision member includes a first connecting portion and a collision portion, the first connecting portion being movably connected to a support member, and the second element being disposed on the collision portion.

[0012] In some embodiments, the collision part includes a plate and a plurality of first protective ribs located on the side of the plate away from the first connecting part, the plurality of first protective ribs being spaced apart along a direction intersecting the forward direction of the lawnmower robot; and / or,

[0013] The support member has a second connecting portion extending along the height direction of the lawnmower robot on the side near the collision member, and the first connecting portion and the second connecting portion slide together.

[0014] In some embodiments, the collision sensing structure further includes an elastic reset member located between the support member and the collision member, wherein the collision member is reset by the elastic force of the elastic reset member.

[0015] In some embodiments, one of the support member and the collision member has a mounting post, and the other has a first mounting groove corresponding to the mounting post. A portion of the elastic reset member is sleeved on the mounting post, and another portion is located in the first mounting groove and abuts against the wall of the first mounting groove facing the mounting post.

[0016] In some embodiments, the support member includes a body and a plurality of spaced-apart second protective ribs, the plurality of second protective ribs being spaced apart along a direction intersecting the forward direction of the lawnmower robot, and the collision member being movably disposed on the body.

[0017] In some embodiments, the second protective rib is located behind the collision member along the forward direction of the lawnmower robot.

[0018] Another embodiment of this application provides a lawnmower robot, including:

[0019] Organism;

[0020] The cutter head assembly is located at the bottom of the machine body;

[0021] The collision sensing structure described above is located at the bottom of the body, and the collision element is located on the front side of the blade assembly along the forward direction of the mowing robot.

[0022] This application provides a collision sensing structure for a lawnmower and a lawnmower robot. The collision sensing structure of the lawnmower robot in this application is set at the bottom of the robot's body and can promptly sense hard obstacles at the bottom of the robot. When obstacles such as stones or tree roots collide with the collision component, the collision component drives the second element to move closer to the support component, reducing the distance between the first and second elements. This causes the detection component to generate a detection signal, and the collision sensing structure can thus sense hard obstacles. Therefore, the collision sensing structure of this application can improve the timeliness and accuracy of detection. Attached Figure Description

[0023] Figure 1 This is an exploded view of a collision sensing structure according to an embodiment of this application;

[0024] Figure 2 for Figure 1 The diagram shows the structure of the collision sensing structure.

[0025] Figure 3 for Figure 2 The cross-sectional view at point AA shows the collision component in its initial state.

[0026] Figure 4 for Figure 2 The cross-sectional view at point AA shows the collision component in contact with the support component.

[0027] Figure 5 for Figure 1 The diagram shows a collision sensing structure from another angle.

[0028] Explanation of reference numerals in the attached figures:

[0029] 10. Support component; 10a. Receiving cavity; 11. Second connecting part; 11a. Guide channel; 12. Mounting post; 13. Body; 14. Second protective rib; 20. Collision component; 20a. First mounting groove; 20b. Second mounting groove; 21. First connecting part; 22. Collision part; 221. Plate; 222. First protective rib; 222a. First pushing surface; 222b. Second pushing surface; 30. Detection assembly; 31. First element; 32. Second element; 40. Elastic reset component; 50. Guide wheel assembly. Detailed Implementation

[0030] In the description of the embodiments in this application, it should be noted that the term "height direction" is based on the attached... Figure 3 The directions or positional relationships shown are based on the attached chart. Figure 5 The orientation or positional relationship shown is merely for the convenience of describing the embodiments of this application and simplifying the description, and is not intended to indicate or imply that the device or element 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 on the embodiments of this application.

[0031] This application provides a lawnmower robot, including a body, a blade assembly, and a collision sensing structure. The blade assembly and the collision sensing structure are located at the bottom of the body.

[0032] Please see Figures 1 to 5 The collision sensing structure of the lawnmower robot in this application embodiment includes a support member 10, a collision member 20, and a detection component 30.

[0033] The collision element 20 is movably disposed at the bottom of the support element 10. The detection assembly 30 includes a first element 31 disposed on the support element 10 and a second element 32 disposed on the collision element 20. Under the action of an external force, the collision element 20 drives the second element 32 to move toward the first element 31, thereby causing the detection assembly 30 to generate a detection signal.

[0034] The collision component 20 refers to the structure that collides with obstacles such as rocks and tree roots during the operation of the lawnmower robot. The external force refers to the interaction force generated when the collision component 20 collides with the obstacle.

[0035] The collision element 20 is disposed at the bottom of the support member 10. The collision element 20 can collide with hard obstacles on the bottom of the lawnmower robot, so that the collision sensing structure can detect the hard obstacles on the bottom in a timely manner. For example, please refer to Figure 1 , Figures 3 to 5 The collision element 20 can be located on the side of the support 10 closest to the ground, that is, the collision element 20 can be located between the support 10 and the ground. In other embodiments, the collision element 20 can also be located on the bottom of the support 10 in the forward direction.

[0036] The collision element 20 is also located on the front side of the blade assembly along the forward direction of the mowing robot. Therefore, the collision sensing structure can detect obstacles on the front side of the blade assembly and prevent the obstacles from damaging the blade assembly. Exemplarily, the mowing robot also includes a control component. When the collision element 20 collides with an obstacle, the detection component 30 generates a detection signal. The control component controls the mowing robot to stop moving forward based on the detection signal and avoids the obstacle by turning or reversing, thereby protecting the blade assembly and the bottom of the machine body.

[0037] It should be noted that there is a certain gap between the collision component 20 and the ground. The size of this gap can be adjusted according to the distance between the cutter head assembly and the ground. That is, the minimum distance between the collision component 20 and the ground should be less than the distance between the cutter head assembly and the ground, so that hard obstacles with a height greater than the distance between the cutter head assembly and the ground cannot pass through the minimum gap between the collision component 20 and the ground, while hard obstacles with a height less than the minimum distance between the collision component 20 and the ground can pass through the gap. Since the height of the hard obstacle is less than the distance between the cutter head assembly and the ground, it will not affect the operation of the cutter head assembly.

[0038] Please see Figure 3 When there are no obstacles on the ground, or the obstacles are too small to collide with the collision member 20, the collision member 20 is in its initial state. At this time, the distance between the first element 31 of the collision member 20 and the first element 31 of the support member 10 is H1. For example, H1 can be greater than 10 mm. (See also...) Figure 4When the collision member 20 collides with an obstacle, it causes the second element 32 to move closer to the support member 10, while the support member 10 remains relatively stationary. Therefore, the distance between the first element 31 and the second element 32 decreases upon collision. When the distance between the first element 31 and the second element 32 reaches a set value H2, the detection component 30 generates a detection signal. The size of the set value H2 is not limited; for example, the value range of the set value H2 can be 5mm-6mm (including the endpoint value).

[0039] The types of the first element 31 and the second element 32 are not limited; for example, please refer to [reference needed]. Figures 1 to 4 The first element 31 can be a Hall sensor, and the second element 32 can be a magnet. When the magnet moves towards the Hall sensor under the influence of the collision element 20, the magnetic field generated by the magnet also moves towards the Hall sensor until the magnetic flux density around the Hall sensor exceeds a preset threshold. At this point, the Hall sensor generates a detection signal. In other words, the set value H2 actually corresponds to the preset detection threshold of the Hall sensor. The Hall sensor has high sensitivity, accuracy, and fast response speed, which can improve the timeliness of the collision sensing structure. In other embodiments, the first element 31 can be a magnet, and the second element 32 can be a Hall sensor.

[0040] The collision sensing structure of the lawnmower robot in this embodiment is located at the bottom of the robot's body. It can promptly detect obstacles such as stones and tree roots at the bottom of the robot. When an obstacle collides with the collision member 20, the collision member 20 drives the second element 32 to move closer to the support member 10, reducing the distance between the first element 31 and the second element 32. This causes the detection component 30 to generate a detection signal, and the collision sensing structure can thus detect hard obstacles. Therefore, the collision sensing structure in this embodiment can improve the timeliness and accuracy of detection.

[0041] In some embodiments, please refer to Figure 1 , Figure 3 and Figure 4 The second element 32 can be located on the side of the collision member 20 close to the support member 10 to protect the second element 32 and prevent the second element 32 from falling off under the action of external force.

[0042] For example, please refer to Figure 3 and Figure 4 The collision member 20 may have a second mounting groove 20b facing the support member 10, and at least a portion of the structure of the second element 32 is located within the second mounting groove 20b to improve the mounting stability of the second element 32.

[0043] In some embodiments, please refer to Figure 2 The support member 10 may have a receiving cavity 10a, and the first element 31 is located in the receiving cavity 10a.

[0044] The receiving cavity 10a is used to mount the first element 31 and protect the first element 31.

[0045] Figure 3 and Figure 4 The opening of the cavity 10a shown faces the side of the support 10 away from the collision member 20. That is, the bottom wall of the cavity 10a is located between the first element 31 and the second element 32. The first element 31 and the second element 32 are separated from each other, thereby preventing foreign objects from entering the cavity 10a and affecting the operation of the first element 31.

[0046] In some embodiments, please refer to Figure 1 , Figure 3 and Figure 4 The collision member 20 may include a first connecting part 21 and a collision part 22. The first connecting part 21 is movably connected to the support member 10, and the second element 32 is disposed on the collision part 22.

[0047] The first connecting portion 21 is used for movable connection with the support member 10. The collision portion 22 is the part where the collision member 20 collides with the obstacle. For example, please refer to [reference needed]. Figure 3 and Figure 4 The first connecting part 21 may be located on the top side of the collision part 22 along the height direction of the lawnmower robot.

[0048] The connection method between the first connecting part 21 and the support member 10 is not limited. For example, please refer to [link to example]. Figure 3 and Figure 4 The first connecting part 21 is slidably engaged with the support member 10, that is, when the collision member 20 collides, the collision member 20 can slide towards the support member 10.

[0049] Please continue reading. Figure 3 and Figure 4 The support member 10 may have a second connecting part 11 extending along the height direction of the lawnmower robot on the side near the collision member 20. The first connecting part 21 and the second connecting part 11 are slidably engaged, that is, the first connecting part 21 and the second connecting part 11 can slide relative to each other along the height direction.

[0050] Figure 3 and Figure 4 The second connecting portion 11 has a guide channel 11a extending in the height direction. At least a portion of the structure of the first connecting portion 21 extends into the guide channel 11a and slides in cooperation with the guide channel 11a, thereby ensuring that the first connecting portion 21 slides in the height direction and improving the motion stability of the collision member 20.

[0051] For example, a limiting structure may also be provided between the first connecting part 21 and the second connecting part 11. The limiting structure is used to limit the sliding range of the first connecting part 21 and the second connecting part 11, preventing the first connecting part 21 from sliding out of the guide channel 11a, thereby causing the collision member 20 to fall off the support member 10.

[0052] In other embodiments, the first connecting portion 21 may have a guide channel 11a, and the second connecting portion 11 may extend into the guide channel 11a.

[0053] For example, please refer to Figure 1 , Figure 3 and Figure 4 The collision member 20 may have two first connecting parts 21, which are spaced apart along a direction intersecting the forward direction of the lawnmower robot. The second connecting part 11 corresponds to the first connecting part 21 one by one to further improve the motion stability of the collision member 20.

[0054] In some embodiments, please refer to Figure 1 , Figure 3 and Figure 4 The collision part 22 may include a plate 221 and a plurality of first protective ribs 222 located on the side of the plate 221 away from the first connecting part 21. The plurality of first protective ribs 222 are spaced apart along a direction intersecting the forward direction of the lawn mowing robot.

[0055] The first protective rib 222 is used to block obstacles and collide with them.

[0056] When the lawnmower is in operation, the grass to be cut can pass through the gap between two adjacent first protective ribs 222, which ensures cutting efficiency and prevents large hard obstacles from passing through and affecting the operation of the cutter head assembly.

[0057] For example, please refer to Figure 5 The first protective rib 222 has a pushing surface on the front side along the forward direction of the mowing robot. The end of the pushing surface away from the body 13 is inclined to the rear side in the forward direction. An obstacle can come into contact with the pushing surface and exert a certain force on the pushing surface. This force can be decomposed into multiple component forces in multiple directions to achieve the component force action. For example, it can be decomposed into a first component force that is vertically upward and a second component force that is parallel to the pushing surface. When the guide channel 11a of the support member 10 extends along the height direction, the first connecting member can slide in the height direction. Under the action of the first component force, the collision member 20 can move along the height direction towards the support member 10, thereby causing the detection component 30 to generate a detection signal.

[0058] Please continue reading. Figure 5The first protective rib 222 may have two jacking surfaces with different inclination angles, arranged sequentially along the height direction. For ease of description, these are referred to as the first jacking surface 222a and the second jacking surface 222b, respectively. The second jacking surface 222b is located on the side of the first jacking surface 222a that faces away from the plate 221, and the inclination angle of the second jacking surface 222b is greater than that of the first jacking surface 222a. This allows the first protective rib 222 to adapt to obstacles of different heights. It should be noted that the inclination angle refers to the angle between the first jacking surface 222a and the second jacking surface 222b and the height direction.

[0059] In some embodiments, please refer to Figure 1 , Figures 3 to 5 The support member 10 may include a body 13 and a plurality of spaced second protective ribs 14. The plurality of second protective ribs 14 are spaced apart along a direction intersecting the forward direction of the lawnmower robot. The collision member 20 is movably disposed on the body 13.

[0060] The second protective rib 14 can further protect the blade assembly and also prevent human fingers, toes, or other human body parts from penetrating the bottom of the lawnmower robot, thus improving user safety.

[0061] For example, the second protective rib 14 can be located on the rear side of the collision member 20 along the forward direction of the lawnmower robot, thereby improving the protective effect without affecting the collision sensing structure's ability to sense hard obstacles.

[0062] Please see Figure 3 and Figure 4 In the embodiment where the collision component 20 includes the first protective rib 222, at least a portion of the structure of the second protective rib 14 on the projection plane perpendicular to the forward direction can be located between two adjacent first protective ribs 222. If an obstacle passes through the gap between two adjacent first protective ribs 222, the second protective rib 14 can further block it, thereby further improving the protective effect.

[0063] In some embodiments, please refer to Figure 1 , Figure 3 and Figure 4 The collision sensing structure may also include an elastic reset member 40 located between the support member 10 and the collision member 20, and the support member 10 is reset under the elastic force of the elastic reset member 40.

[0064] The elastic reset member 40 is used to restore the collision member 20 to its initial state without the action of external force.

[0065] When the collision member 20 moves toward the support member 10 under the action of external force, the elastic reset member 40 undergoes elastic deformation and stores a certain amount of elastic potential energy. When the external force disappears, the elastic reset member 40 releases the elastic potential energy, causing the collision member 20 to return to its initial state.

[0066] The type of resilient reset member 40 is not limited; for example, please refer to [link to relevant documentation]. Figure 1 , Figure 3 and Figure 4 The elastic reset element 40 can be a spring.

[0067] Please continue reading. Figure 1 , Figure 3 and Figure 4 The support member 10 may have a mounting post 12, the collision member 20 has a first mounting groove 20a corresponding to the mounting post 12, a portion of the elastic reset member 40 is sleeved on the mounting post 12, and another portion is located in the first mounting groove 20a and abuts against the wall of the first mounting groove 20a facing the mounting post 12.

[0068] The mounting post 12 and the first mounting groove 20a are not only used to install the elastic reset member 40, but also to restrict the extension and retraction direction of the elastic reset member 40, thereby improving the extension and retraction stability of the elastic reset member 40.

[0069] For example, the two opposite ends of the elastic reset member 40 along the extension direction can be connected to the wall surfaces of the support member 10 and the first mounting groove 20a respectively to prevent the collision member 20 from falling off the support member 10.

[0070] Figure 4 The mounting post 12 shown is located on the side of the body 13 near the collision member 20, and part of the structure of the mounting post 12 extends into the first mounting groove 20a and abuts against the wall of the first mounting groove 20a. In other words, the mounting post 12 also has a limiting function. Under the action of external force, the collision member 20 moves towards the support member 10 until the mounting post 12 abuts against the wall of the first mounting groove 20a.

[0071] In some embodiments, please refer to Figure 1 , Figure 3 and Figure 4 The lawnmower also includes a guide wheel assembly 50 mounted on the support 10. The guide wheel assembly 50 is used to adjust the body posture, especially in climbing scenarios, to prevent the front of the lawnmower from scraping against the ground.

[0072] In the description of this application, the references to terms such as "in one embodiment," "in some embodiments," "in other embodiments," "in yet another embodiment," or "exemplary," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the embodiments of this application. In this application, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. Furthermore, without contradiction, those skilled in the art can combine the different embodiments or examples described in this application, as well as the features of the different embodiments or examples.

[0073] The above description is merely a preferred embodiment of this application and is not intended to limit the application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application are included within the scope of protection of this application.

Claims

1. A collision sensing structure for a lawnmower robot, characterized in that, include: Support components; A collision element, which is movably disposed at the bottom of the support element; A detection component, the detection component including a first element disposed on the support member and a second element disposed on the collision member; Under the action of an external force, the collision component drives the second element to move closer to the first element, thereby causing the detection component to generate a detection signal.

2. The collision sensing structure for the lawnmower robot according to claim 1, characterized in that, One of the first element and the second element is a Hall sensor, and the other is a magnet.

3. The collision sensing structure of the lawnmower robot according to claim 1 or 2, characterized in that, The second element is located on the side of the impact member closer to the support member; and / or, The support has a receiving cavity, and the first element is located within the receiving cavity.

4. The collision sensing structure of the lawnmower robot according to claim 1 or 2, characterized in that, The collision component includes a first connecting part and a collision part, the first connecting part being movably connected to the support member, and the second element being disposed on the collision part.

5. The collision sensing structure of the lawnmower robot according to claim 4, characterized in that, The collision part includes a plate and a plurality of first protective ribs located on the side of the plate away from the first connecting part, the plurality of first protective ribs being spaced apart along a direction intersecting the forward direction of the lawnmower robot; and / or, The support member has a second connecting portion extending along the height direction of the lawnmower robot on the side near the collision member, and the first connecting portion and the second connecting portion slide together.

6. The collision sensing structure of the lawnmower robot according to claim 1 or 2, characterized in that, The collision sensing structure also includes an elastic reset member located between the support member and the collision member, wherein the collision member is reset by the elastic force of the elastic reset member.

7. The collision sensing structure for the lawnmower robot according to claim 6, characterized in that, One of the support member and the collision member has a mounting post, and the other has a first mounting groove corresponding to the mounting post. A portion of the elastic reset member is sleeved on the mounting post, and another portion is located in the first mounting groove and abuts against the wall of the first mounting groove facing the mounting post.

8. The collision sensing structure of the lawnmower robot according to claim 1 or 2, characterized in that, The support includes a main body and a plurality of spaced-apart second protective ribs, which are spaced apart along a direction intersecting the forward direction of the lawnmower robot. The collision member is movably disposed on the main body.

9. The collision sensing structure for the lawnmower robot according to claim 8, characterized in that, The second protective rib is located on the rear side of the collision member along the forward direction of the lawnmower robot.

10. A lawnmower robot, characterized in that, include: Organism; The cutter head assembly is located at the bottom of the machine body; The collision sensing structure according to any one of claims 1-9, wherein the collision sensing structure is disposed at the bottom of the body, and the collision element is located on the front side of the blade assembly along the forward direction of the mowing robot.

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