A grass cutting device and grass cutting apparatus

Abstract

This utility model provides a lawn mowing device and equipment, relating to the field of weed control technology. The lawn mowing device includes a housing, a vision module, and an ultrasonic recognition module. The housing has a first end and a second end opposite to each other along a first direction. The vision module is disposed at the first end and located in the central region of the first end. The ultrasonic recognition module is disposed at the first end and located at the upper part of the first end. The ultrasonic recognition module includes two ultrasonic units, respectively located on both sides of the first end along a second direction. Each ultrasonic unit includes an ultrasonic sensor. The emission axis of the ultrasonic sensor is inclined outward and upward relative to the first direction. The ultrasonic recognition module can detect the entire upper front area of ​​the lawn mowing device, supplementing the blind spots of the vision module, thereby making it less likely for protruding parts of the lawn mowing device to collide with obstacles, providing reliable obstacle avoidance protection for protruding parts.

Description

Technical Field

[0001] This utility model relates to the field of weeding technology, and in particular to a weeding device and weeding equipment. Background Technology

[0002] With the development of smart gardening and unmanned operation technologies, automated lawn mowing equipment, as a typical intelligent mobile terminal, is gradually being applied to various scenarios such as home gardens, golf courses, and park lawns. Lawn mowing equipment includes self-moving devices and mowing units. The mowing units not only need to complete the basic lawn mowing task, but also need to achieve intelligent perception and obstacle avoidance control of complex environments to ensure the safety of the self-moving devices and their surroundings.

[0003] To meet the requirements of automatic obstacle avoidance and path planning, common lawnmowers widely adopt image recognition-based vision modules (such as cameras + AI algorithms) to achieve obstacle detection and navigation perception. However, vision modules have blind spots in close-range, low-contrast targets or complex lighting conditions, which may cause protruding parts of the lawnmower (such as antennas and radomes) to collide with obstacles and cause damage. Utility Model Content

[0004] In order to solve the problems existing in the prior art, one of the objectives of this utility model is to provide a grass-cutting device.

[0005] This utility model provides the following technical solution: A lawn mowing device, comprising: A housing having a first end and a second end opposite to each other along a first direction, the second end being used to connect a moving device; A vision module, wherein the vision module is disposed at the first end and located in the central region of the first end; and An ultrasonic identification module is disposed at the first end and located at the upper part of the first end. The ultrasonic identification module includes two ultrasonic units, which are respectively located on both sides of the first end along the second direction. Each ultrasonic unit includes an ultrasonic sensor. Wherein, both the first direction and the second direction are horizontal, the first direction intersects the second direction, and the emission axis of the ultrasonic sensor is tilted outward and upward relative to the first direction.

[0006] As a further optional embodiment of the lawn mowing device, the distance between the emitting ends of the two ultrasonic sensors along the second direction is D, and the maximum width of the housing along the second direction is L, where D > L / 2; and / or, The height difference between the ultrasonic sensor and the vision module is H, where 30mm ≤ H ≤ 80mm; and / or, The angle at which the emission axis of the ultrasonic sensor is tilted outward relative to the first direction is α, where 35° ≤ α ≤ 45°; and / or, The angle at which the transmission axis of the ultrasonic sensor is tilted upward relative to the first direction is β, where 10°≤β≤15°.

[0007] As a further optional feature of the lawn mowing device, the housing is provided with a recessed mounting groove; The ultrasonic unit also includes a cover, which is housed in the mounting groove and has a sensor through hole. The ultrasonic sensor is connected to the cover and corresponds to the sensor through hole.

[0008] As a further optional embodiment of the lawn mowing device, the ultrasonic unit further includes a bracket disposed on the inner wall surface of the cover, and the ultrasonic sensor is disposed on the bracket; The outer wall of the cover is provided with a protrusion, which corresponds to the bracket, and the sensor through hole is provided in the protrusion.

[0009] As a further alternative to the lawn mowing device, the support frame includes a first support plate and a second support plate; The ultrasonic sensor is disposed on the top surface of the first support plate, the first support plate is connected to the inner wall surface of the cover, and the angle between the first support plate and the horizontal plane is equal to the angle at which the emission axis of the ultrasonic sensor is tilted upward relative to the first direction. The second support plate is connected to the inner wall surface of the cover and the first support plate.

[0010] As a further optional embodiment of the lawn mowing device, the ultrasonic unit further includes a positioning sleeve, which is fitted onto the ultrasonic sensor. The positioning sleeve has a first positioning hole, and the inner wall of the cover has a first positioning post corresponding to the first positioning hole.

[0011] As a further alternative to the lawn mowing device, the housing includes an upper shell, a middle shell, and a lower shell arranged sequentially from top to bottom, with the vision module disposed in the middle shell and the ultrasonic recognition module disposed in the upper shell; The upper shell includes a top cover and a base that interlock with each other. The base is provided with the mounting groove, and the top cover is provided with a mounting through hole that matches the mounting groove. The portion of the cover with the sensor through hole extends out from the mounting through hole.

[0012] As a further alternative to the mowing device, the cover is provided with a plurality of positioning blocks that abut against the inner wall of the top cover.

[0013] As a further optional feature of the lawn mowing device, the cover and the housing are positioned using a concave-convex joint. The inner wall of the mounting groove is provided with a cable outlet for leading out the ultrasonic sensor cable.

[0014] Another objective of this invention is to provide a lawn mowing device.

[0015] This utility model provides the following technical solution: A lawn mowing device includes a mobile device and the aforementioned lawn mowing device, wherein the mobile device is connected to the second end of the housing.

[0016] The embodiments of this utility model have the following beneficial effects: In the aforementioned lawn mowing device, a vision module and an ultrasonic recognition module are simultaneously installed at the first end of the housing. The ultrasonic recognition module is positioned higher than the vision module, and the two ultrasonic units within the ultrasonic recognition module are located on opposite sides of the first end. Furthermore, the emission axis of the ultrasonic sensor within the ultrasonic unit is tilted outwards and upwards, enabling the ultrasonic recognition module to detect the entire upper front area of ​​the lawn mowing device, supplementing the blind spots of the vision module. This prevents protruding parts of the lawn mowing device from colliding with obstacles, providing reliable obstacle avoidance protection for these protruding parts.

[0017] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This diagram shows an overall isometric view of a lawn mowing device according to an embodiment of the present invention. Figure 2 This figure shows a front view of a lawn mowing device provided in an embodiment of the present invention; Figure 3 A top view of a lawn mowing device provided in an embodiment of the present invention is shown; Figure 4 A side view of a lawn mowing device provided in an embodiment of the present invention is shown; Figure 5This diagram shows a structural schematic of the housing in a lawn mowing device according to an embodiment of the present invention; Figure 6 This diagram shows a structural schematic of the cover in a lawn mowing device according to an embodiment of the present invention; Figure 7 This diagram shows a structural schematic of the cover of a lawn mowing device provided in an embodiment of the present invention from another perspective; Figure 8 This diagram illustrates the structure of a positioning sleeve in a lawn mowing device according to an embodiment of the present invention. Figure 9 This diagram shows a structural schematic of a positioning sleeve in a lawn mowing device provided by an embodiment of the present invention, viewed from another angle.

[0020] Explanation of key component symbols: 100 - Housing; 100a - First end; 100b - Second end; 110 - Upper housing; 111 - Top cover; 1111 - Mounting through hole; 112 - Base; 1121 - Mounting slot; 1122 - Cable outlet hole; 1123 - Cable clamping block; 1124 - Third positioning hole; 1125 - Second positioning hole; 113 - Snap-on cover; 120 - Middle housing; 130 - Lower housing; 200 - Vision module; 300 - Ultrasonic recognition module Block; 300a-Ultrasonic unit; 310-Ultrasonic sensor; 320-Cover; 321-Sensor through hole; 322-Protrusion; 323-First positioning post; 324-Second positioning post; 325-Positioning block; 330-Bracket; 331-First support plate; 332-Second support plate; 333-Third positioning post; 340-Positioning sleeve; 341-First positioning hole; X-First direction; Y-Second direction. Detailed Implementation

[0021] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0022] It should be noted that when an element is said to be "fixed" to another element, it can be directly on the other element or there may be an intervening element. When an element is said to be "connected" to another element, it can be directly connected to the other element or there may be an intervening element. Conversely, when an element is said to be "directly" on another element, there is no intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0023] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0024] 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 utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the template description is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0026] The inventors of this application have discovered that, in practical applications, the vision modules of existing lawnmowers face the following key challenges: a. Imaging and recognition fail in strong backlight, at night, or high-reflectivity environments; b. Low recognition rate for low-contrast targets (such as thin tree branches, dark protrusions); c. There are blind spots or recognition lag issues in the area close to the equipment (<20cm), which can easily lead to collisions, especially damaging protruding parts (such as antennas and radomes); d. It cannot effectively eliminate interference from low grass, wetlands, or dew reflections below the preset mowing height, which can easily lead to misjudgment or frequent shutdowns.

[0027] Example To address the aforementioned technical problems, this embodiment provides a lawn mowing device applied to lawn mowing equipment. Please refer to the following: Figure 1 and Figure 2 The lawn mowing device includes a housing 100, a vision module 200, and an ultrasonic recognition module 300.

[0028] The housing 100 has a first end 100a and a second end 100b opposite to each other along a first direction X, the second end 100b being connected to a moving device in the lawn mowing equipment.

[0029] Accordingly, the vision module 200 is disposed at the first end 100a and located in the central region of the first end 100a.

[0030] An ultrasonic identification module 300 is disposed at the first end 100a and located at the upper part of the first end 100a. The ultrasonic identification module 300 includes two ultrasonic units 300a, which are respectively located on both sides of the first end 100a along the second direction Y. Each ultrasonic unit 300a includes an ultrasonic sensor 310.

[0031] In this configuration, both the first direction X and the second direction Y are horizontal, and the first direction X intersects the second direction Y. The transmission axis of the ultrasonic sensor 310 is tilted outward and upward relative to the first direction X.

[0032] Understandably, the first end 100a is the front end of the housing 100 along the traveling direction of the mobile device, and the second end 100b is the rear end of the housing 100.

[0033] Furthermore, the outward tilt of the transmission axis of the ultrasonic sensor 310 relative to the first direction X specifically means that the forward end of the ultrasonic sensor 310 along the traveling direction of the moving device is the transmitting end, and the distance between the transmitting end and the middle of the housing 100 along the second direction Y is greater than the distance between the other end and the middle of the housing 100 along the second direction Y.

[0034] In the aforementioned lawn mowing device, a vision module 200 and an ultrasonic recognition module 300 are simultaneously provided at the first end 100a of the housing 100. The ultrasonic recognition module 300 is higher than the vision module 200, and the two ultrasonic units 300a in the ultrasonic recognition module 300 are located on both sides of the first end 100a. Furthermore, the emission axis of the ultrasonic sensor 310 in the ultrasonic unit 300a is tilted outwards and upwards, thus enabling the ultrasonic recognition module 300 to detect the entire upper front area of ​​the lawn mowing device, supplementing the blind spots of the vision module 200. This prevents protruding parts of the lawn mowing device from colliding with obstacles, providing reliable obstacle avoidance protection for these protruding parts.

[0035] For example, the first direction X is perpendicular to the second direction Y.

[0036] Please see Figure 3 In some embodiments, the distance between the transmitting ends of the two ultrasonic sensors 310 along the second direction Y is D, and the maximum width of the housing 100 along the second direction Y is L, satisfying D > L / 2.

[0037] By making the distance D between the transmitting ends of the two ultrasonic sensors 310 greater than half the maximum width L of the housing 100, excessive overlap of the beams emitted by the two ultrasonic sensors 310 can be avoided, ensuring that the beams can cover the oblique area in front of the lawnmower, thereby better supplementing the blind spot of the vision module 200.

[0038] In some embodiments, the height difference between the ultrasonic sensor 310 and the vision module 200 is H, which satisfies 30mm≤H≤80mm.

[0039] In other words, the vertical distance between the ultrasonic sensor 310 and the ground exceeds the vertical distance between the vision module 200 and the ground by 30mm-80mm. In this case, the ultrasonic recognition module 300 can better compensate for the blind spots of the vision module 200.

[0040] Optionally, the height difference between the ultrasonic sensor 310 and the vision module 200 can be any value between 30mm, 40mm, 50mm, 60mm, 70mm, 80mm, or 30mm to 80mm.

[0041] In some embodiments, the angle at which the transmission axis of the ultrasonic sensor 310 is tilted outward relative to the first direction X is α, satisfying 35°≤α≤45°.

[0042] Understandably, setting the outward tilt angle of the ultrasonic sensor 310's emission axis within the range of 35°-45° helps ensure that the beams emitted by the two ultrasonic sensors 310 cover the oblique area in front of the lawnmower.

[0043] Optionally, the angle at which the transmitting axis of the ultrasonic sensor 310 is tilted outward relative to the first direction X can be 35°, 36°, 37°, 38°, 39°, 40°, 41°, 42°, 43°, 44°, 45° or any value between 35° and 45°.

[0044] For example, α = 42°.

[0045] Please see Figure 4 In some embodiments, the angle of upward tilt of the transmission axis of the ultrasonic sensor 310 relative to the first direction X is β, satisfying 10°≤β≤15°.

[0046] Setting an appropriate upward tilt angle can prevent direct ultrasonic waves from generating erroneous echoes due to short grass below the mowing height, and can also effectively deal with hanging objects located above and in front of the mowing device, protecting protruding components such as antennas on the mobile device.

[0047] Optionally, the angle at which the transmitting axis of the ultrasonic sensor 310 is tilted upward relative to the first direction X can be 10°, 11°, 12°, 13°, 14°, 15° or any value between 10° and 15°.

[0048] Please refer to it again. Figure 1 In some embodiments, the housing 100 is provided with a recessed mounting groove 1121.

[0049] Accordingly, the ultrasonic unit 300a also includes a cover 320. The cover 320 is housed in the mounting groove 1121 and is provided with a sensor through hole 321. The ultrasonic sensor 310 is connected to the cover 320 and corresponds to the sensor through hole 321.

[0050] During assembly, the ultrasonic sensor 310 is first installed on the cover 320 to form the ultrasonic unit 300a. Then, the cover 320 is placed into the mounting groove 1121 on the housing 100, thereby fixing the ultrasonic unit 300a in place.

[0051] Furthermore, in some embodiments, the housing 100 includes an upper housing 110, a middle housing 120, and a lower housing 130 arranged sequentially from top to bottom. The vision module 200 is disposed in the middle housing 120, and the ultrasonic recognition module 300 is disposed in the upper housing 110.

[0052] Understandably, the distance D between the transmitting ends of the two ultrasonic sensors 310 along the second direction Y is less than the width of the upper shell 110 along the second direction Y.

[0053] Please combine them together Figure 5 and Figure 6 The upper shell 110 includes a top cover 111 and a base 112 that are interlocked. The base 112 is provided with the aforementioned mounting groove 1121, the top cover 111 is provided with a mounting through hole 1111 that is adapted to the mounting groove 1121, and the portion of the cover 320 with the sensor through hole 321 extends out through the mounting through hole 1111.

[0054] Understandably, during assembly, the cover 320 is placed into the mounting groove 1121 on the base 112, and then the top cover 111 is fastened onto the base 112 from top to bottom. The top cover 111 and the base 112 cooperate to press the cover 320 tightly into the mounting groove 1121. After assembly, the top cover 111, the cover 320, and the inner wall of the mounting groove 1121 together form a mounting cavity, in which the ultrasonic sensor 310 is located.

[0055] Please see Figure 5Furthermore, the upper shell 110 also includes a snap-fit ​​cover 113. The snap-fit ​​cover 113 is disposed at the snap-fit ​​connection between the top cover 111 and the base 112, which can further fix the top cover 111 and the base 112, enhance stability and sealing line, and at the same time enhance the aesthetics of the upper shell 110.

[0056] Please refer to the following: Figure 6 and Figure 7 In some embodiments, the ultrasonic unit 300a further includes a bracket 330. The bracket 330 is disposed on the inner wall surface of the cover 320, and the ultrasonic sensor 310 is disposed on the bracket 330.

[0057] Correspondingly, a protrusion 322 is provided on the outer wall surface of the cover 320. The protrusion 322 corresponds to the bracket 330, and the sensor through hole 321 is provided on the protrusion 322.

[0058] During assembly, the ultrasonic sensor 310 is first mounted on the bracket 330, thereby connecting to the cover 320 through the bracket 330.

[0059] The protruding part 322 on the outer wall of the cover 320 can be aligned with the plane where the ultrasonic sensor 310 emits, reducing edge reflection and through-hole interference.

[0060] In addition, the protrusion 322 also serves to shield against rainwater. Specifically, the lower surface of the protrusion 322 is provided with three slopes with progressively increasing gradients to facilitate rainwater falling and prevent rainwater from accumulating at the ultrasonic sensor 310.

[0061] Specifically, in some embodiments, the bracket 330 includes a first support plate 331 and a second support plate 332.

[0062] The ultrasonic sensor 310 is disposed on the top surface of the first support plate 331. The first support plate 331 is connected to the inner wall surface of the cover 320, and the angle between the first support plate 331 and the horizontal plane is equal to the angle at which the emission axis of the ultrasonic sensor 310 is tilted upward relative to the first direction X.

[0063] In addition, the second support plate 332 is connected to the inner wall surface of the cover 320 and the first support plate 331 respectively.

[0064] Understandably, making the angle between the first support plate 331 and the horizontal plane equal to the upward elevation angle β of the transmission axis of the ultrasonic sensor 310 can ensure that the transmission direction of the ultrasonic sensor 310 is consistent, and the transmission direction of the ultrasonic waves can be precisely controlled by the first support plate 331.

[0065] At the same time, the first support plate 331 is also connected to the inner wall of the cover 320 through the second support plate 332. The second support plate 332 can support the first support plate 331, ensuring that the first support plate 331 is not affected by the load inside, thereby maintaining a stable tilt angle and better controlling the emission direction of the ultrasonic waves.

[0066] Furthermore, in some embodiments, the bracket 330 and the cover 320 are integrally formed structures.

[0067] In other words, the cover 320 and the bracket 330 adopt a modular design, which can avoid manual adjustment errors, improve installation accuracy, and facilitate disassembly and replacement.

[0068] Please refer to the following: Figure 8 and Figure 9 In some embodiments, the ultrasonic unit 300a further includes a positioning sleeve 340. The positioning sleeve 340 is fitted onto the ultrasonic sensor 310, and the positioning sleeve 340 is provided with a plurality of first positioning holes 341. The inner wall surface of the cover 320 is provided with a plurality of first positioning posts 323 corresponding to the plurality of first positioning holes 341 (see reference). Figure 7 ).

[0069] Understandably, the first positioning post 323 on the inner wall of the cover 320 is inserted into the first positioning hole 341 on the positioning sleeve 340, which can accurately position the positioning sleeve 340 on the cover 320. Based on this, the positioning sleeve 340 is fitted onto the ultrasonic sensor 310, which can accurately position the ultrasonic sensor 310 on the cover 320, thereby ensuring that the ultrasonic sensor 310 is installed stably without deviation.

[0070] Please refer to the following: Figure 6 and Figure 7 In some embodiments, the edge of the cover 320 is provided with a plurality of positioning blocks 325, which abut against the inner wall of the top cover 111.

[0071] When in use, the positioning block 325 cooperates with the inner wall of the top cover 111 to prevent the top cover 111 from sinking due to mechanical impact or thermal expansion from sun exposure, thereby improving the structural stability of the mowing device and avoiding the angular displacement of the ultrasonic sensor 310 caused by the sinking of the top cover 111.

[0072] For example, the front bottom surface and the rear top surface of the cover 320 are provided with two positioning blocks 325.

[0073] Furthermore, in some embodiments, the cover 320 and the housing 100 are positioned using a concave-convex method.

[0074] For example, please refer to the following: Figure 5 and Figure 6The cover 320 is provided with a plurality of second positioning posts 324, and the base 112 is provided with a plurality of second positioning holes 1125 corresponding to the plurality of second positioning posts 324 respectively.

[0075] When the cover 320 is placed into the mounting groove 1121, the second positioning post 324 on the cover 320 is inserted into the second positioning hole 1125 on the base 112, which can accurately position the cover 320 on the base 112, that is, accurately position the entire ultrasonic unit 300a on the upper shell 110, thereby ensuring that the ultrasonic sensor 310 is installed stably without deviation.

[0076] Similarly, the first support plate 331 and the housing 100 are also positioned using concave and convex methods.

[0077] For example, the bottom surface of the first support plate 331 is provided with a plurality of third positioning posts 333, and the bottom surface of the mounting groove 1121 is provided with a plurality of third positioning holes 1124 corresponding to the plurality of third positioning posts 333 respectively (see Figure 5 ).

[0078] When the cover 320 is placed into the mounting groove 1121, the third positioning post 333 on the bottom surface of the first support plate 331 is inserted into the third positioning hole 1124 on the bottom surface of the mounting groove 1121, which can accurately position the entire ultrasonic unit 300a on the upper shell 110, and also ensure that the ultrasonic sensor 310 is installed stably without deviation.

[0079] The multiple second positioning posts 324 and the positioning blocks 325 set on the front bottom surface of the cover 320 are staggered to avoid structural deformation caused by unidirectional bias.

[0080] In addition, the inner wall of the mounting groove 1121 is provided with a cable outlet 1122 for leading out the ultrasonic sensor cable.

[0081] Specifically, the mounting groove 1121 includes a bottom surface and a side wall surface that are connected to each other. The side wall surface is curved and is provided with the cable outlet hole 1122, and a cable retaining block 1123 is provided inside the cable outlet hole 1122 (see reference). Figure 8 The power cord, data transmission line, and other cables connected to the ultrasonic sensor 310 are secured by the cable clip 1123.

[0082] At this time, the cable outlet 1122 is located in a concealed position on the inner wall of the mounting groove 1121, which is beneficial for cable protection and back cover protection.

[0083] In summary, by simultaneously assembling a vision module 200 and an ultrasonic recognition module 300 at the first end 100a of the housing 100, the above-mentioned lawn mowing device can effectively compensate for the blind spots of the vision module 200 in the face of close-range, low-contrast targets or complex lighting conditions, prevent equipment collisions caused by recognition failure or delay, and provide reliable obstacle avoidance protection for protruding components such as antennas and radar located above the front of the lawn mowing device. At the same time, it avoids the ultrasonic sensor 310 from being falsely triggered by interference factors such as short grass, dew, and water surfaces, thereby improving the environmental adaptability and operational safety of the entire lawn mowing device.

[0084] Furthermore, by setting the first support plate 331 to precisely control the emission direction of the ultrasonic waves, and by using the first positioning post 323, the second positioning post 324, the third positioning post 333, and the positioning block 325 to ensure that the ultrasonic sensor 310 is installed stably without deviation, and to ensure that the sensor through hole 321 on the protrusion 322 is precisely aligned with the emission surface of the ultrasonic sensor 310, problems such as large elevation angle error, through hole misalignment, and inaccurate assembly can be improved.

[0085] This embodiment also provides a lawn mowing device, including a mobile device and the above-mentioned lawn mowing device, wherein the mobile device is connected to the second end 100b of the housing 100.

[0086] Specifically, the mobile device can be a self-moving device, that is, an intelligent device that can achieve autonomous or semi-autonomous movement, obstacle avoidance, navigation, and task execution without external power traction, relying on its own power and control systems. The task scenarios of this self-moving device can be snow removal, lawn mowing, leaf blowing, etc., but this embodiment does not limit this.

[0087] In all examples shown and described herein, any specific values ​​should be interpreted as merely exemplary and not as limitations; therefore, other examples of exemplary embodiments may have different values.

[0088] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0089] The embodiments described above are merely examples of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of this utility model. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these modifications and improvements all fall within the protection scope of this utility model.

Claims

1. A grass cutting device, characterised in that, include: A housing having a first end and a second end opposite to each other along a first direction, the second end being used to connect a moving device; A vision module, wherein the vision module is disposed at the first end and located in the central region of the first end; and An ultrasonic identification module is disposed at the first end and located at the upper part of the first end. The ultrasonic identification module includes two ultrasonic units, which are respectively located on both sides of the first end along the second direction. Each ultrasonic unit includes an ultrasonic sensor. Wherein, both the first direction and the second direction are horizontal, the first direction intersects the second direction, and the emission axis of the ultrasonic sensor is tilted outward and upward relative to the first direction.

2. The lawn mowing device according to claim 1, characterized in that, The distance between the emitting ends of the two ultrasonic sensors along the second direction is D, and the maximum width of the housing along the second direction is L, where D > L / 2; and / or, The height difference between the ultrasonic sensor and the vision module is H, where 30mm ≤ H ≤ 80mm; and / or, The angle at which the emission axis of the ultrasonic sensor is tilted outward relative to the first direction is α, where 35° ≤ α ≤ 45°; and / or, The angle at which the transmission axis of the ultrasonic sensor is tilted upward relative to the first direction is β, where 10°≤β≤15°.

3. The lawn mowing device according to claim 1, characterized in that, The housing is provided with a recessed mounting groove; The ultrasonic unit also includes a cover, which is housed in the mounting groove and has a sensor through hole. The ultrasonic sensor is connected to the cover and corresponds to the sensor through hole.

4. The grass cutting device of claim 3, wherein The ultrasonic unit also includes a bracket, which is disposed on the inner wall surface of the cover, and the ultrasonic sensor is disposed on the bracket; The outer wall of the cover is provided with a protrusion, which corresponds to the bracket, and the sensor through hole is provided in the protrusion.

5. The grass cutting device of claim 4, wherein The bracket includes a first support plate and a second support plate; The ultrasonic sensor is disposed on the top surface of the first support plate, the first support plate is connected to the inner wall surface of the cover, and the angle between the first support plate and the horizontal plane is equal to the angle at which the emission axis of the ultrasonic sensor is tilted upward relative to the first direction. The second support plate is connected to the inner wall surface of the cover and the first support plate.

6. The grass cutting device of claim 5, wherein The ultrasonic unit also includes a positioning sleeve, which is fitted onto the ultrasonic sensor. The positioning sleeve has a first positioning hole, and the inner wall of the cover has a first positioning post corresponding to the first positioning hole.

7. A grass cutting device as claimed in any one of claims 3 to 6, wherein The housing includes an upper shell, a middle shell, and a lower shell arranged sequentially from top to bottom; the vision module is disposed in the middle shell; and the ultrasonic recognition module is disposed in the upper shell. The upper shell includes a top cover and a base that interlock with each other. The base is provided with the mounting groove, and the top cover is provided with a mounting through hole that matches the mounting groove. The portion of the cover with the sensor through hole extends out from the mounting through hole.

8. The grass cutting device of claim 7, wherein The cover is provided with a plurality of positioning blocks, which abut against the inner wall of the top cover.

9. The grass cutting device of claim 8, wherein The cover and the shell are positioned using a concave-convex joint; The inner wall of the mounting groove is provided with a cable outlet for leading out the ultrasonic sensor cable.

10. A grass cutting apparatus characterised in that, The device includes a mobile device and a lawn mowing device according to any one of claims 1-9, wherein the mobile device is connected to the second end of the housing.

Images