Contact-type obstacle avoidance device and lawn mower

Abstract

The utility model discloses a contact type obstacle avoidance device and mower, the mower includes a casing, a processing chip and a removal module, the contact type obstacle avoidance device includes a buffer shell, a pressure sensor and a plurality of fixed parts, the pressure sensor is fixed on the casing, the buffer shell is connected with the casing through fixed part, and the movable gap is established between fixed part and buffer shell, and the corresponding position of buffer shell and pressure sensor is equipped with the mounting seat, and the mounting seat is connected with the strain gauge of pressure sensor, and the pressure sensor transmits pressure detection signal to the processing chip, and the processing chip transmits the steering control signal to the removal module. The application provides a kind of mowing robot of automation operation, utilize the demand of more working scene of contact type obstacle avoidance mode, effectively avoid the collision of mower and obstacle or reduce damage when colliding.

Description

Technical Field

[0001] This utility model relates to a contact-type obstacle avoidance device and a lawnmower. Background Technology

[0002] As a core piece of garden machinery, lawnmowers are 8 to 10 times more efficient than manual weeding, with lower seedling damage and higher cleanliness. Their technological development has evolved from human-powered to intelligent. Early lawnmowers relied mainly on human power or animal traction, resulting in low efficiency and high labor intensity. In the mid-19th century, the first mechanical lawnmower was invented, employing a rotating blade design, laying the foundation for the basic working principle of modern lawnmowers. In the early 20th century, with the maturity of internal combustion engine technology, gasoline-powered lawnmowers rapidly became widespread, significantly improving operational efficiency, but also suffering from problems such as high noise and pollution. In the late 20th century, electric lawnmowers began to emerge. Initially limited by the inconvenience of wired power supply, true wireless freedom of operation was only achieved with breakthroughs in battery technology.

[0003] Existing lawn mowers are all manually operated and cannot achieve automated mowing. Utility Model Content

[0004] The technical problem to be solved by this utility model is to overcome the shortcomings of existing lawnmowers which are manually operated and cannot achieve automated lawnmowering. This utility model provides a lawnmower robot that can operate automatically, using a contact-type obstacle avoidance method to meet the needs of more work scenarios, effectively avoiding collisions between the lawnmower and obstacles or reducing damage when collisions occur, and improving the safety and stability of the lawnmower in complex environments.

[0005] The present invention solves the above-mentioned technical problems through the following technical solution:

[0006] A contact-type obstacle avoidance device for a lawnmower, the lawnmower comprising a housing, a processing chip, and a moving module, characterized in that the contact-type obstacle avoidance device includes a buffer housing, a pressure sensor, and several fixing components.

[0007] The pressure sensor is fixed to the housing;

[0008] The buffer housing is connected to the housing by a fastener, and a movable gap is provided between the fastener and the buffer housing. The buffer housing is provided with a mounting base at the corresponding position of the pressure sensor, and the mounting base is connected to the strain gauge of the pressure sensor.

[0009] The pressure sensor transmits a pressure detection signal to the processing chip;

[0010] The processing chip transmits steering control signals to the mobile module.

[0011] Preferably, the buffer shell includes a shell body, two first shell side plates and two second shell side plates. The first shell side plates are located on the front side of the lawnmower, and the second shell side plates are located on both sides of the first shell side plates. The included angle formed by the first shell side plates is greater than a preset included angle and the included angle of the second shell side plates is less than that of the first shell side plates. The mounting base is located above the shell body, and a protective cover plate is provided on the upper surface of the shell body.

[0012] Preferably, the moving module includes at least one omnidirectional wheel and two drive wheels, with the two drive wheels located on both sides of the rear of the lawnmower and the omnidirectional wheel located at the front of the lawnmower.

[0013] Preferably, the strain gauge is disposed on the centerline of the housing and perpendicular to the horizontal plane, and the mounting base is provided with a mounting hole, the size of which matches the size of the strain gauge, and the strain gauge passes through the mounting hole when the buffer housing is installed on the housing.

[0014] Preferably, the fixing member includes a fixing post disposed on the upper surface of the housing, the top of the fixing post is provided with a fixing head, the diameter of the fixing head is larger than the diameter of the fixing post, the buffer housing is provided with a fixing hole at the matching position of the fixing post, the size of the fixing hole is larger than the diameter of the fixing post and smaller than the diameter of the fixing head, the height of the fixing post is greater than the thickness of the buffer housing, and a gap is provided between the housing and the buffer housing when the buffer housing contacts the fixing head.

[0015] Preferably, the fixing hole is in the shape of a monolithic circle, the minimum diameter of the fixing hole is greater than the diameter of the fixing post and less than the diameter of the fixing head, and the deflection angle of the monolithic circle along the forward direction of the lawnmower is greater than 90 degrees and less than 180 degrees.

[0016] This utility model also provides a lawnmower, characterized in that the lawnmower includes the contact obstacle avoidance device described above.

[0017] Based on common knowledge in the field, the above-mentioned preferred conditions can be combined arbitrarily to obtain various preferred embodiments of this utility model.

[0018] The positive and progressive effects of this utility model are as follows:

[0019] High adaptability: Through the translation and angle adjustment functions of the buffer shell, it can flexibly adapt to obstacles of different sizes, shapes and positions, and has a wider range of applications compared with traditional fixed-structure contact obstacle avoidance devices.

[0020] Excellent protection: The elastic material and contact edge design of the buffer shell, combined with the collaborative work of the processing chip and control unit, can effectively absorb energy and adjust the obstacle avoidance strategy in time when a collision occurs, minimizing damage to the lawnmower.

[0021] Intelligent adjustment: The control unit performs intelligent analysis and decision-making based on sensor data, realizing automatic adjustment of obstacle avoidance structure parameters without manual intervention, which improves the intelligence level and work efficiency of lawnmower obstacle avoidance. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure of the lawnmower according to Embodiment 1 of this utility model.

[0023] Figure 2 This is another structural schematic diagram of the lawnmower according to Embodiment 1 of this utility model.

[0024] Figure 3 This is another structural schematic diagram of the lawnmower according to Embodiment 1 of this utility model.

[0025] Figure 4 This is another structural schematic diagram of the lawnmower according to Embodiment 1 of this utility model.

[0026] Figure 5 This is another structural schematic diagram of the lawnmower according to Embodiment 1 of this utility model. Detailed Implementation

[0027] The present invention will be further illustrated by way of embodiments below, but the present invention is not limited to the scope of the embodiments described herein.

[0028] Example 1

[0029] In this embodiment, the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0030] See Figures 1 to 5 This embodiment provides a lawnmower.

[0031] The lawnmower includes a contact obstacle avoidance device 11, a housing 12, a processing chip, and a mobile module 13.

[0032] The contact obstacle avoidance device 11 includes a buffer housing 111, a pressure sensor 112, and several fixing components 113;

[0033] The pressure sensor 112 is fixed to the housing 12;

[0034] The buffer outer shell 111 is connected to the housing 12 by a fastener 113.

[0035] A movable gap is provided between the fixing member 113 and the buffer housing 111. The buffer housing 111 and the pressure sensor 112 are provided with mounting bases 1111 at corresponding positions. The mounting bases are connected to the strain gauges of the pressure sensor.

[0036] The pressure sensor transmits a pressure detection signal to the processing chip;

[0037] The processing chip transmits steering control signals to the mobile module.

[0038] The buffer shell includes a shell body, two first shell side plates and two second shell side plates. The first shell side plates are located on the front side of the lawnmower, and the second shell side plates are located on both sides of the first shell side plates. The included angle between the first shell side plates is greater than 120 degrees and the included angle between the second shell side plates is smaller than that between the first shell side plates. The mounting base is located above the shell body, and a protective cover is provided on the upper surface of the shell body.

[0039] The moving module 13 includes at least one omnidirectional wheel 131 and two drive wheels 132. The two drive wheels are located on both sides of the rear of the lawnmower, and the omnidirectional wheel is located at the front of the lawnmower.

[0040] The strain gauge is located on the centerline of the housing and perpendicular to the horizontal plane. The mounting base has a mounting hole whose size matches that of the strain gauge. When the buffer housing is installed on the housing, the strain gauge passes through the mounting hole.

[0041] The fixing member 113 includes a fixing post 1131 disposed on the upper surface of the housing, and a fixing head 1132 disposed on the top of the fixing post. The diameter of the fixing head is larger than the diameter of the fixing post. A fixing hole is disposed at the position where the buffer housing matches the fixing post. The size of the fixing hole is larger than the diameter of the fixing post and smaller than the diameter of the fixing head. The height of the fixing post is greater than the thickness of the buffer housing. When the buffer housing contacts the fixing head, there is a gap between the housing and the buffer housing.

[0042] The fixing hole 1133 is in the shape of a monolithic circle. The minimum diameter of the fixing hole is greater than the diameter of the fixing post and less than the diameter of the fixing head. The deflection angle of the monolithic circle along the front direction of the lawnmower is greater than 90 degrees and less than 180 degrees.

[0043] In this embodiment, the direction forward is the direction in which the lawnmower moves to cut grass. The preferred deflection angle in this embodiment is 15 degrees or 45 degrees.

[0044] When the lawnmower's buffer shell contacts an obstacle at the same speed, the obstacle at point A exerts a greater force to the right on the buffer shell than the obstacle at point B. The strain gauge can obtain the value of the force applied to the right and determine the position of the obstacle, which is the position of the contact point.

[0045] The lawnmower is equipped with at least one camera at its front end.

[0046] In this embodiment, the buffer shell is made of an elastic material, possessing a certain degree of flexibility and cushioning performance, and its outer surface is provided with multiple raised edges. When in contact with an obstacle, these edges can increase the friction, allowing the lawnmower to detect the collision in time and absorb some of the collision energy through its own elastic deformation, thereby reducing the impact of the impact force on the lawnmower.

[0047] A gap exists between the buffer shell and the lawnmower body to accommodate obstacle avoidance requirements of different sizes. The movement module adopts a rear-wheel drive motor and a front swivel wheel structure. The drive motor can drive the lawnmower to rotate within a certain angle range, allowing the lawnmower to better conform to the obstacle surface and improve the accuracy and effectiveness of obstacle avoidance.

[0048] While specific embodiments of this utility model have been described above, those skilled in the art should understand that these are merely illustrative examples, and the scope of protection of this utility model is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principles and essence of this utility model, but all such changes and modifications fall within the scope of protection of this utility model.

Claims

1. A contact-type obstacle avoidance device for a lawnmower, the lawnmower comprising a housing, a processing chip, and a moving module, characterized in that, The contact-type obstacle avoidance device includes a buffer housing, a pressure sensor, and several fixing components. The pressure sensor is fixed to the housing; The buffer housing is connected to the housing by a fastener, and a movable gap is provided between the fastener and the buffer housing. The buffer housing is provided with a mounting base at the corresponding position of the pressure sensor, and the mounting base is connected to the strain gauge of the pressure sensor. The pressure sensor transmits a pressure detection signal to the processing chip; The processing chip transmits steering control signals to the mobile module.

2. The contact obstacle avoidance device as described in claim 1, characterized in that, The buffer shell includes a shell body, two first shell side plates and two second shell side plates. The first shell side plates are located on the front side of the lawnmower, and the second shell side plates are located on both sides of the first shell side plates. The included angle formed by the first shell side plates is greater than a preset included angle and the included angle of the second shell side plates is less than that of the first shell side plates. The mounting base is located above the shell body, and a protective cover plate is provided on the upper surface of the shell body.

3. The contact-type obstacle avoidance apparatus according to claim 1, wherein The moving module includes at least one omnidirectional wheel and two drive wheels. The two drive wheels are located on both sides of the rear of the lawnmower, and the omnidirectional wheel is located at the front of the lawnmower.

4. The contact-type obstacle avoidance apparatus according to claim 1, wherein The strain gauge is located on the centerline of the housing and perpendicular to the horizontal plane. The mounting base has a mounting hole whose size matches that of the strain gauge. When the buffer housing is installed on the housing, the strain gauge passes through the mounting hole.

5. The contact-type obstacle avoidance apparatus according to claim 4, wherein The fixing component includes a fixing post disposed on the upper surface of the housing, a fixing head disposed at the top of the fixing post, the diameter of the fixing head being larger than the diameter of the fixing post, a fixing hole disposed at the position where the buffer housing matches the fixing post, the size of the fixing hole being larger than the diameter of the fixing post and smaller than the diameter of the fixing head, the height of the fixing post being greater than the thickness of the buffer housing, and a gap being disposed between the housing and the buffer housing when the buffer housing contacts the fixing head.

6. The contact obstacle avoidance device as described in claim 5, characterized in that, The fixing hole is shaped like a monolith, and the minimum diameter of the fixing hole is greater than the diameter of the fixing post and less than the diameter of the fixing head. The deflection angle of the monolith along the length direction of the lawnmower on both sides is greater than 90 degrees and less than 180 degrees.

7. A lawnmower characterised in that, The lawnmower includes a contact obstacle avoidance device as described in any one of claims 1 to 6.

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