A mowing robot

Abstract

The embodiment of the application provides a mowing robot, which comprises a vehicle body, a ground clearance detection mechanism, a control mechanism and a cutting mechanism arranged at the bottom of the vehicle body, the ground clearance detection mechanism is arranged on at least one side of the cutting mechanism in the left-right direction; the ground clearance detection mechanism comprises a floating assembly and a detection assembly, the detection assembly comprises a trigger and a trigger switch, one of the trigger and the trigger switch is arranged on the vehicle body, and the other is arranged on the floating assembly; the trigger switch and the cutting mechanism are respectively connected with the control mechanism in signal; the floating assembly is movably connected to the vehicle body in the up-down direction, the floating assembly has a first state and a second state, when the floating assembly is in the first state, the floating assembly abuts against the ground, and the trigger and the trigger switch are separated; when the floating assembly is in the second state, the floating assembly is separated from the ground, and the trigger and the trigger switch are in contact to trigger the trigger switch; after the trigger switch is triggered, the control mechanism controls the cutting mechanism to stop working. The application has the advantages of improving safety protection.

Description

Technical Field

[0001] This application relates to the field of lawn mowing device technology, and more particularly to a lawn mowing robot. Background Technology

[0002] As an automated gardening device, the safety of lawnmower robots is of paramount importance. One key safety risk lies in the fact that if the robot is accidentally picked up or tipped over by a user, its high-speed rotating cutting mechanism, if not stopped in time, poses a significant safety hazard and could cause serious injury to the user. Summary of the Invention

[0003] This application provides a lawnmower robot, which aims to improve the safety hazards that exist when the robot overturns in the prior art.

[0004] This application provides a lawnmower robot, including a vehicle body, a ground clearance detection mechanism, a control mechanism, and a cutting mechanism disposed at the bottom of the vehicle body, wherein the ground clearance detection mechanism is disposed on at least one side of the cutting mechanism in the left-right direction; The ground clearance detection mechanism includes a floating component and a detection component. The detection component includes a trigger and a trigger switch. One of the trigger and the trigger switch is mounted on the vehicle body, and the other is mounted on the floating component. The trigger switch and the cutting mechanism are respectively signal-connected to the control mechanism. The floating component is movably connected to the vehicle body. The floating component has a first state and a second state. When the floating component is in the first state, it is in contact with the ground, and the trigger and the trigger switch are separated. When the floating component is in the second state, it is detached from the ground, and the trigger and the trigger switch are in contact to trigger the trigger switch. The control mechanism controls the cutting mechanism to stop working after the trigger switch is triggered.

[0005] Optionally, a guide structure is provided on the vehicle body, and the trigger switch is located on the vehicle body; The detection component further includes a guide portion, which is connected to the trigger and the floating component respectively. The guide portion slides in conjunction with the guide structure, and the floating component is movably connected to the vehicle body via the guide portion. Both the trigger and the floating component extend beyond the guide portion to form upper and lower limit structures, respectively, limiting the travel of the guide portion during the sliding process.

[0006] Optionally, the guide structure is a through hole provided in the vehicle body, the guide part is a guide post, and the length of the guide post is greater than the depth of the through hole.

[0007] Optionally, the floating component includes a main board, a sub-board, and a transition board. The sub-board is spaced apart inside the main board, and the opposite sides of the transition board are connected to the main board and the sub-board, respectively. The top of the sub-board is lower than the top of the main board.

[0008] Optionally, two of each of the guide structure, guide part, trigger element, and trigger switch are provided. The two guide parts are respectively provided on the front and rear sides of the vehicle body. The guide structure and the guide part correspond one-to-one, and the trigger element and the trigger switch correspond one-to-one. The top of each guide part is connected to a trigger element, and the bottom of the two guide parts are connected to the same floating component. Each guide part and its corresponding guide structure are in sliding engagement, and each trigger element and its corresponding trigger switch are in engagement.

[0009] Optionally, the ground clearance detection mechanism is provided on both sides of the cutting mechanism in the left and right directions.

[0010] Optionally, two ground clearance detection mechanisms are provided on each side of the cutting mechanism in the left and right directions, and the two ground clearance detection mechanisms located on the same side are distributed along the front and rear directions of the vehicle body.

[0011] Optionally, the bottom surface of the floating component is an arc surface, and the outer edge of the arc surface is higher than the center of the arc surface.

[0012] Optionally, the bottom of the floating component is provided with several rollers.

[0013] Optionally, it also includes a moving mechanism, which includes wheels spaced at intervals in front and behind, the wheels being rotatably connected to the vehicle body, and the cutting mechanism and the ground clearance detection mechanism being disposed within the intervals between the wheels.

[0014] This invention features a ground-lift detection mechanism that is immediately triggered when the lawnmower robot is lifted, tilted, or jumps over rocks, causing the cutting mechanism to leave the ground. The control mechanism responds quickly and stops the cutting mechanism, fundamentally avoiding the risk of cutting injuries to users, pets, or surrounding objects caused by the high-speed rotating blades. Attached Figure Description

[0015] Figure 1 This is an overall view of a lawnmower robot provided in one embodiment of this application; Figure 2 yes Figure 1 Enlarged view of part A in the middle; Figure 3 This is a front view of a lawnmower robot provided in one embodiment of this application; Figure 4 This is an overall view of the floating component of a lawnmower robot provided in one embodiment of this application.

[0016] Explanation of reference numerals in the attached figures: 1. Body; 2. Ground clearance detection mechanism; 21. Floating component; 211. Main board; 212. Sub-board; 213. Transition board; 22. Detection component; 221. Trigger; 222. Trigger switch; 23. Guide section. Detailed Implementation

[0017] To make the technical problems, technical solutions, and beneficial effects solved by this application clearer, the following detailed description is provided in conjunction with embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0018] Reference Figures 1 to 4 This application provides a lawnmower robot, including a vehicle body 1, a ground clearance detection mechanism 2, a control mechanism, and a cutting mechanism disposed at the bottom of the vehicle body 1. The ground clearance detection mechanism 2 is disposed on at least one side of the cutting mechanism in the left-right direction. The ground clearance detection mechanism 2 includes a floating component 21 and a detection component 22. The detection component 22 includes a trigger element 221 and a trigger switch 222. One of the trigger element 221 and the trigger switch 222 is disposed on the vehicle body 1, and the other is disposed on the floating component 21. The trigger switch 222 and the cutting mechanism are respectively signal-connected to the control mechanism.

[0019] The floating component 21 is vertically movably connected to the vehicle body 1. The floating component 21 has a first state and a second state. In the first state, the floating component 21 is in contact with the ground, and the trigger 221 and the trigger switch 222 are separated. In the second state, the floating component 21 is detached from the ground, and the trigger 221 and the trigger switch 222 are in contact, thus triggering the trigger switch 222. After the trigger switch 222 is triggered, the control mechanism controls the cutting mechanism to stop working.

[0020] In this embodiment, when the lawnmower robot is lifted, tilted, or jumps over rocks, causing the cutting mechanism to leave the ground, the ground-lift detection mechanism 2 is immediately triggered. The control mechanism responds quickly and stops the cutting mechanism, fundamentally avoiding the risk of high-speed rotating blades causing cutting injuries to users, pets, or surrounding objects. This is an active physical safety protection that greatly enhances the product's safety performance.

[0021] Furthermore, due to the use of a mechanical floating component 21 combined with a trigger 221 and a trigger switch 222, the detection signal is direct and reliable, and is not affected by environmental factors such as grass texture, color, humidity, or light. Compared with pure vision or ultrasonic sensor solutions, it has higher stability in different operating environments.

[0022] Reference Figure 1 and Figure 2In one embodiment, a guide structure is provided on the vehicle body 1, and a trigger switch 222 is disposed on the vehicle body 1. The detection component 22 further includes a guide portion 23, which is connected to the trigger member 221 and the floating component 21 respectively. The guide portion 23 slides in cooperation with the guide structure, and the floating component 21 is movably connected to the vehicle body 1 via the guide portion 23. Both the trigger member and the floating component extend beyond the guide portion to form an upper limit and a lower limit structure respectively, limiting the travel of the guide portion during the sliding process.

[0023] In this embodiment, the sliding engagement between the guide structure and the guide part 23 provides a defined and constrained path for the vertical movement of the floating component 21. Furthermore, the movement of the guide part is limited by the trigger and the floating component. When the trigger contacts the trigger switch, the guide part is at its lowest point; when the floating component is at its highest position, the guide part is at its highest point. This ensures that the floating component 21 can only move in the vertical direction, effectively preventing it from swaying, jamming, or tilting in the forward / backward or left / right directions.

[0024] Specifically, the guide structure is a through hole set in the vehicle body 1, which extends vertically. The guide part 23 is a guide post, the length of which is greater than the depth of the through hole. By setting a through hole on the vehicle body 1, the guide post slides up and down within the through hole to achieve a sliding fit, which has the advantage of simple structure.

[0025] In other embodiments, a vertically extending dovetail groove may be provided on the vehicle body 1, and the guide portion 23 cooperates with the dovetail groove to achieve vertical sliding.

[0026] Reference Figure 2 and Figure 4 In one embodiment, the floating component 21 includes a main board 211, a sub-board 212, and a transition plate 213. The sub-board 212 is spaced apart inside the main board 211. The opposite sides of the transition plate 213 are connected to the main board 211 and the sub-board 212, respectively. The top of the sub-board 212 is lower than the top of the main board 211. In this embodiment, the guide portion 23 is connected to the transition plate 213, and the sub-board 212 protects the guide portion 23, reducing contact between the guide portion 23 and the outside world.

[0027] In other embodiments, the top of the sub-plate 212 is lower than the top of the main plate 211. The height difference between the two allows the sub-plate 212 to abut against the vehicle body 1 after moving upward, thereby achieving a certain limiting function.

[0028] In other embodiments, the floating component 21 is plate-shaped, resulting in a simpler structure.

[0029] In one embodiment, two guide structures, two guide parts 23, two triggers 221 and two trigger switches 222 are provided. The two guide parts 23 are respectively provided on the front and rear sides of the vehicle body 1. The guide structures and guide parts 23 correspond one-to-one, and the triggers 221 and trigger switches 222 correspond one-to-one. The top of each guide part 23 is connected to a trigger 221, and the bottom of the two guide parts 23 is connected to the same floating component 21. Each guide part 23 and its corresponding guide structure are in sliding cooperation, and each trigger 221 and its corresponding trigger switch 222 are in cooperation.

[0030] In this embodiment, a trigger 221 and a guide 23 are respectively provided on the front and rear sides of a floating component 21 to detect whether the front and rear positions of the vehicle body 1 are off the ground, thereby improving the detection accuracy.

[0031] In one embodiment, ground-lift detection mechanisms 2 are provided on both the left and right sides of the cutting mechanism. During the mowing operation, these two ground-lift detection mechanisms 2 act like protective wings, always maintaining contact with the ground and floating accordingly. They not only stop the blades by triggering a switch when the robot is accidentally lifted, but also play a crucial role in physical isolation during the daily movement of the lawnmower robot. Since the floating components 21 always protrude from the cutting mechanism and contact the ground, they effectively form a movable safety barrier in front of or to the side of the blade area. This barrier effectively prevents the user's hands, toes, or pet's limbs from accidentally sliding into or near the high-speed rotating cutting mechanism from the side while the robot is working, greatly reducing the risk of accidental contact.

[0032] In one embodiment, two ground clearance detection mechanisms 2 are provided on each side of the cutting mechanism in the left and right directions, and the two ground clearance detection mechanisms 2 located on the same side are distributed along the front and rear directions of the vehicle body 1.

[0033] As an optimization, two floating components 21, two guide parts 23, two triggers 221 and two trigger switches 222 are respectively provided on each side of the vehicle body 1 in the left and right directions. The floating component 21, the guide part 23, the trigger 221 and the trigger switch 222 constitute a ground clearance detection mechanism 2. The two ground clearance detection mechanisms 2 are arranged one in front of the other, which can more accurately sense whether the vehicle body 1 has left the ground.

[0034] In one embodiment, the bottom surface of the floating component 21 is curved, with the outer edge of the curved surface higher than its center. This curved shape allows it to easily glide or roll over small obstacles on the grass (such as clods of dirt, protruding tree roots, toys, etc.) without getting stuck or snagged. This reduces the probability of the mechanism being accidentally triggered by obstacles, improving the robot's maneuverability and continuous working capability. The contact between the curved surface and the ground is more like "gliding" than "scraping," especially during turning, significantly reducing tearing and abrasion of the turf and protecting the lawn's appearance.

[0035] In one embodiment, the bottom of the floating component 21 is provided with several rollers. This transforms the sliding friction between the floating component 21 and the ground into rolling friction, significantly reducing the frictional force. This allows the floating component 21 to move more smoothly with the terrain and respond more sensitively.

[0036] Reference Figure 1 and Figure 3 In one embodiment, the system further includes a moving mechanism comprising wheels spaced at intervals, the wheels being rotatably connected to the robot body 1. The cutting mechanism and the ground clearance detection mechanism 2 are both located within the intervals between the wheels. Placing the detection mechanism between the wheels means that when the robot's front wheels are already suspended in the air but the robot's center of gravity has not yet completely moved out of the ground and the cutting mechanism has not yet completely left the ground, the floating component 21 has already sensed the disappearance of the ground and triggered a stop.

[0037] The working principle is as follows: During normal operation, the cutting mechanism at the bottom of the lawnmower rotates to cut the grass. At the same time, the ground clearance detection mechanism located on the side of the cutting mechanism also moves with the vehicle. At this time, the floating component always remains in contact with the ground (i.e., in the first state) under its own weight or structural design, and is therefore supported at a certain height, so that the trigger installed on it is separated from the trigger switch installed on the vehicle, and the trigger switch is in the off state.

[0038] When the robot is lifted, tilted, or traverses an obstacle (such as a rock) causing the cutting mechanism to lift completely off the ground, the floating component, losing ground support, moves downwards under its own weight or mechanical force, transitioning to a second state. This downward movement causes the trigger element to contact and close the trigger switch, sending a trigger signal to the control mechanism. Upon receiving this signal, the control mechanism immediately determines that the cutting mechanism is in an abnormal operating state and issues a control command to quickly stop the power output of the cutting mechanism, halting the high-speed rotating blade. Through this series of coherent automatic responses, proactive physical safety protection is achieved, effectively eliminating the risk of cutting injuries that could be caused by the blade.

[0039] In this application, "multiple" refers to two or more.

[0040] In this application, unless otherwise expressly defined, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0041] The terms “first,” “second,” “third,” “fourth,” etc., in this application (if present) are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0042] In this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, in this application, the character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0043] Unless otherwise specified, all steps in this application may be performed sequentially or randomly. For example, if the method includes steps A and B, it means that the method may include steps A and B performed sequentially, or it may include steps B and A performed sequentially. For example, if the method may also include step C, it means that step C may be added to the method in any order. For example, the method may include steps A, B, and C, or it may include steps A, C, and B, or it may include steps C, A, and B, etc.

[0044] The above description is merely a preferred 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 lawnmower robot, characterized in that, It includes a vehicle body, a ground clearance detection mechanism, a control mechanism, and a cutting mechanism disposed at the bottom of the vehicle body, wherein the ground clearance detection mechanism is disposed on at least one side of the cutting mechanism in the left-right direction; The ground clearance detection mechanism includes a floating component and a detection component. The detection component includes a trigger and a trigger switch. One of the trigger and the trigger switch is mounted on the vehicle body, and the other is mounted on the floating component. The trigger switch and the cutting mechanism are respectively signal-connected to the control mechanism. The floating component is movably connected to the vehicle body. The floating component has a first state and a second state. When the floating component is in the first state, it is in contact with the ground, and the trigger and the trigger switch are separated. When the floating component is in the second state, it is detached from the ground, and the trigger and the trigger switch are in contact to trigger the trigger switch. The control mechanism controls the cutting mechanism to stop working after the trigger switch is triggered.

2. The lawnmower robot according to claim 1, characterized in that, A guide structure is provided on the vehicle body, and the trigger switch is located on the vehicle body; The detection component further includes a guide portion, which is connected to the trigger and the floating component respectively. The guide portion slides in conjunction with the guide structure, and the floating component is movably connected to the vehicle body via the guide portion. Both the trigger and the floating component extend beyond the guide portion to form upper and lower limit structures, respectively, limiting the travel of the guide portion during the sliding process.

3. The lawnmower robot according to claim 2, characterized in that, The guide structure is a through hole provided in the vehicle body, and the guide part is a guide post, the length of which is greater than the depth of the through hole.

4. The lawnmower robot according to claim 1, characterized in that, The floating component includes a main board, a sub-board, and a transition board. The sub-board is spaced apart inside the main board. The opposite sides of the transition board are connected to the main board and the sub-board, respectively. The top of the sub-board is lower than the top of the main board.

5. The lawnmower robot according to claim 2, characterized in that, Two of each of the guide structure, guide part, trigger element, and trigger switch are provided. The two guide parts are respectively provided on the front and rear sides of the vehicle body. The guide structure and the guide part correspond one-to-one, and the trigger element and the trigger switch correspond one-to-one. The top of each guide part is connected to a trigger element, and the bottom of the two guide parts are connected to the same floating component. Each guide part and its corresponding guide structure are in sliding cooperation, and each trigger element and its corresponding trigger switch are in cooperation.

6. The lawnmower robot according to claim 1, characterized in that, The ground clearance detection mechanism is provided on both sides of the cutting mechanism in the left and right directions.

7. The lawnmower robot according to claim 1, characterized in that, Two ground clearance detection mechanisms are provided on each side of the cutting mechanism in the left and right directions, and the two ground clearance detection mechanisms on the same side are distributed along the front and rear directions of the vehicle body.

8. The lawnmower robot according to claim 1, characterized in that, The bottom surface of the floating component is an arc surface, and the outer edge of the arc surface is higher than the center of the arc surface.

9. The lawnmower robot according to claim 1, characterized in that, The bottom of the floating component is equipped with several rollers.

10. The lawnmower robot according to claim 1, characterized in that, It also includes a moving mechanism, which includes wheels spaced at intervals in front and behind, the wheels being rotatably connected to the vehicle body, and the cutting mechanism and the ground clearance detection mechanism being disposed within the intervals between the wheels.

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