Grass collecting bag, grass cutting robot and grass cutting system

Abstract

The application provides a grass collecting bag, a mowing robot and a mowing system. The mowing robot comprises a device body, a mowing assembly, a support and a detection and sensing component. The device body is provided with a grass discharging port for discharging grass clippings. The mowing assembly is arranged at the bottom of the device body and is used for cutting grass during mowing operation. The support is arranged on the device body and is used for connecting a grass clippings processing assembly. When the grass clippings processing assembly is installed on the support, the grass discharging port can be at least partially blocked, thereby guiding or collecting the grass clippings generated by cutting. The detection and sensing component is used for detecting the connection state of the support. It can determine whether the grass clippings processing assembly is reliably connected to the support. In the case that the grass clippings processing assembly is detected to be installed, the specific type of the installed grass clippings processing assembly is further identified.

Description

Technical Field

[0001] This application belongs to the field of lawn mowing robot technology, and more specifically, relates to a grass collection bag, a lawn mowing robot, and a lawn mowing system. Background Technology

[0002] The grass clipping unit of a lawnmower robot is typically designed to be detachably mounted on the main body of the machine for easy cleaning, maintenance, or replacement. However, this detachable design can pose certain safety hazards in practical applications. Specifically, if the operator fails to accurately install the grass clipping unit into its designated position after cleaning, it will be in an incorrect installation state. In this state, the mowing components inside the machine may lack the physical protection provided by the grass clipping unit, increasing the risk of accidental mechanical injury to the operator.

[0003] Therefore, how to effectively ensure that the grass clipping components are installed before the equipment is put into operation, so as to effectively protect the safety of operators, has become a problem that deserves attention and needs to be properly solved in this field. Utility Model Content

[0004] This application aims to provide a grass-collecting bag, a grass-cutting robot, and a grass-cutting system to solve the technical problem of whether the grass clipping components are properly installed in the prior art.

[0005] To achieve the above objectives, the technical solution adopted in this application is as follows: A lawnmower robot is provided, comprising: The main body of the equipment has a straw discharge port; A mowing assembly, located at the bottom of the device body, is used to perform mowing operations; A support member is disposed on the device body and is used to connect with the grass clipping processing component. When the grass clipping processing component is connected to the support member, the grass discharge port is at least partially blocked by the grass clipping processing component. A detection sensor is used to determine the connection status of the support member and, when a grass clipping processing component is connected to the support member, to determine the type of the grass clipping processing component.

[0006] As a further improvement to the above technical solution: Upon receiving a mowing command, if the support member is not connected to the grass clipping assembly, the mowing assembly will not operate; if the support member is connected to the grass clipping assembly, the mowing assembly will operate.

[0007] The lawnmower includes an alarm component. When a lawnmower command is received, if the support component is not connected to the grass clipping processing component, the alarm component will issue a warning message.

[0008] The types of grass clipping treatment components include grass collection components or grass blocking components.

[0009] When the grass collection component is connected to the support member, the grass mowing component has a first cutting speed when performing grass mowing operations; when the grass blocking component is connected to the support member, the grass mowing component has a second cutting speed when performing grass mowing operations; wherein, the first cutting speed is greater than the second cutting speed.

[0010] The detection sensor includes at least one first detection sensor and at least one second detection sensor. When the grass clipping processing component is a grass collecting component, the first detection sensor is triggered. When the grass clipping processing component is a grass blocking component, the second detection sensor is triggered.

[0011] The device body is also provided with an installation platform, and the detection sensor is detachably placed on the installation platform.

[0012] The installation platform is also equipped with a detection component. When the grass collection component is connected to the support, the detection component is used to determine the fullness of the grass collection space inside the grass collection component.

[0013] The detection element is inclined relative to the horizontal plane so that it emits a detection signal toward the grass collection space.

[0014] The detection sensor and the detection component are respectively disposed on opposite sides of the mounting platform. When the grass collection assembly is connected to the support, the mounting platform extends into the grass collection space.

[0015] It also includes a flipping mechanism for driving the support member to rotate; The lawnmower robot has a mounting cavity on the side facing the grass clipping assembly. The flipping mechanism is installed in the mounting cavity. The mounting cavity has a cover plate, which is connected to the cavity wall of the mounting cavity to form a receiving cavity for accommodating the flipping mechanism. The mounting platform is disposed on the cover plate.

[0016] The grass collection component includes a support frame and a grass collection bag, the grass collection bag being fitted onto the support frame, and the support frame being detachably connected to the support member; When the grass-collecting assembly is connected to the support member, the flipping mechanism is used to drive the support frame to swing relative to the device body.

[0017] The grass collection component includes a hook connected to the support frame. The hook is formed by bending a first connecting rod. The support frame includes multiple second connecting rods, and the outer diameter of the second connecting rod is smaller than the outer diameter of the first connecting rod.

[0018] Optionally, the outer diameter of the second connecting rod is D1, the outer diameter of the first connecting rod is D2, and the outer diameters of the second connecting rod and the first connecting rod satisfy 0.3 < D1 / D2 < 0.8.

[0019] This application also provides a lawn mowing system, including a base station and a lawn mowing robot as described in any of the above claims, wherein the base station is at least used to charge the lawn mowing robot.

[0020] This application also provides a grass collection bag for connection to a device body. The grass collection bag is equipped with a sensor trigger. When the grass collection bag is installed on the device body, the sensor trigger is used to trigger a detection sensor on the device body to determine that the grass collection bag is in a working position.

[0021] As a further improvement to the above technical solution: The sensor trigger is generally installed at the edge of the feed inlet of the grass collection bag.

[0022] The detection sensing element is a Hall sensor, and the sensing trigger element is a magnetic element. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a three-dimensional structural diagram of a lawnmower robot according to some embodiments of this application; Figure 2 This is a bottom view schematic diagram of the lawnmower robot according to some embodiments of this application; Figure 3 This is a side view structural diagram of a lawnmower robot according to some embodiments of this application; Figure 4 This is a schematic diagram of a partial structure of a lawnmower robot according to some embodiments of this application. Figure 1 ; Figure 5 This is a schematic diagram of a partial structure of a lawnmower robot according to some embodiments of this application. Figure 2 ; Figure 6 for Figure 4 A schematic diagram of a local structure in the image; Figure 7 for Figure 6 A schematic diagram of the decomposed structure in the image; Figure 8 This is a first exploded structural diagram of the flipping mechanism of some embodiments of this application; Figure 9 This is a second exploded view of the flipping mechanism according to some embodiments of this application; Figure 10 This is a front view schematic diagram of the support structure of some embodiments of this application; Figure 11 This is a three-dimensional structural diagram of the grass-collecting component according to some embodiments of this application; Figure 12 This is an exploded structural diagram of the grass collection component according to some embodiments of this application; Figure 13 This is a schematic diagram of the optional component structure of a lawnmower robot according to some embodiments of this application.

[0025] The following are the labeling elements in the figure: 01. Inspection Items 02. Calibration parts; 03. Signal amplifier; 04. Equipment body; 041. Mounting platform; 0411. Mounting ramp; 042. Cover plate; 043. Drive wheel; 044. Chassis; 045. Outer shell; 046. Mounting cavity; 0461. Mounting port; 0462. Connection opening; 0463. Support part; 0464. Inclined surface; 0465. Cavity wall; 047. Straw discharge port; 048. Guide wheel; 05. Tilting mechanism; 051. Drive shaft; 052. Positioning component; 053. Position sensor; 054. Drive component; 06. Hay collection assembly; 061. Support frame; 0611. Bag depth support frame; 0612. Bag opening support frame; 0613. Diagonal brace; 0614. Second connecting rod; 062. Hay collection bag; 0621. Sensor trigger; 063. Hook; 0631. First connecting rod; 064. Hay inlet; 065. Hay collection space; 07. Mowing assembly; 071. Cutter blade; 072. Cutter head cover; 0721. Discharge port; 073. Grass clipping conveying channel; 08. Support component; 081. Hanging groove; 0811. Arc segment; 0812. Long segment; 09. Baffle; 10. Working datum surface; 11. Grass-blocking components; 12. Grass clipping treatment components; 13. Detection sensor; 131. First detection sensor; 132. Second detection sensor; 14. Positioning components. Detailed Implementation

[0026] 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 intended to explain this utility model, and should not be construed as limiting this utility model.

[0027] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are 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 of this utility model.

[0028] 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.

[0029] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., 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 of 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.

[0030] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0031] Furthermore, the technical solutions of the various embodiments can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of this utility model.

[0032] In the following description, suffixes such as "circuit," "component," "assembly," or "unit" are used only for the purpose of describing this utility model and have no specific meaning in themselves. Therefore, they can be used in combination.

[0033] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0034] In this application, the mowing equipment can be an automatic mowing robot or a mower that requires manual pushing by an operator. The following description uses an automatic mowing robot as an example, but it does not limit the mowing equipment in this application to a mower that requires manual pushing by an operator.

[0035] like Figure 1 and Figure 2 As shown, the lawnmower robot includes a chassis 044, a housing 045, a vision component, a positioning component 14, and a grass-collecting component 06. The housing 045 is mounted on the chassis 044, while the vision component, positioning component 14, and grass-collecting component 06 are mounted on the robot's main body 04. The vision component is used to identify environmental information, and the positioning component 14 is used to determine the robot's position so that the lawnmower robot can work along a preset path. The grass-collecting component 06 is used to collect grass clippings generated during the mowing process, keeping the working area clean.

[0036] The chassis 044 may be equipped with a walking mechanism to enable the robot to move on the working surface. In this embodiment, the walking mechanism includes guide wheels 048 and drive wheels 043, which are respectively located on the front and rear sides of the chassis 044. Through the cooperation of the guide wheels 048 and drive wheels 043, the lawnmower robot can flexibly perform forward, backward, and turning movements to meet the mobility requirements in different working scenarios. In other embodiments, the walking mechanism can also be a tracked walking mechanism or other types of walking mechanisms, as long as it can enable the lawnmower robot to move stably on the working surface.

[0037] The outer shell 045 is mounted on the chassis 044, forming the robot's external outline. It serves to protect internal components, improve the robot's aesthetics, and optimize aerodynamic performance. The outer shell 045 can be a one-piece structure, such as being made of plastic or metal through injection molding or die casting. Alternatively, it can be a modular structure, composed of multiple shell parts, facilitating the installation, maintenance, and replacement of the robot's internal components.

[0038] To improve the accuracy of lawnmower robots in determining the amount of grass clippings, this application provides a grass fullness detection component for lawnmower robots. The lawnmower robot is equipped with a grass collection space 065 for holding grass clippings, such as... Figure 7 and Figure 11 As shown, the grass fullness detection component includes a detection element 01. The detection element 01 emits a detection signal into the grass collection space 065 and receives the detection signal reflected back from the grass collection space 065. During operation, the detection element 01 emits a detection signal towards the grass collection space 065, which can be in the form of sound waves, light signals, or electromagnetic waves. Understandably, changes in the amount of grass clippings in the grass collection space 065 will affect the detection signal reflected back from the grass collection space 065; that is, the detection signal received by the detection element 01 will change according to the change in grass clippings, thereby determining the change in grass clippings based on the received detection signal. The amount of grass clippings can be the height of the grass clippings, the volume of the grass clippings, or the area of ​​the grass clippings.

[0039] In some embodiments of this application, when the lawnmower robot is located on the working base surface 10, the angle between the emission direction of the detection element 01 and the working base surface 10 is 40°-45°. With this configuration, the detection signal emitted by the detection element 01 can be directed at the grass collection space 065 at a better incident angle.

[0040] like Figure 7 and Figure 11As shown, in some embodiments of this application, the grass-filling detection component includes a detection element 01 and a calibration element 02, both of which are disposed within the grass-collecting space 065. During operation, the detection element 01 emits a detection signal toward the calibration element 02. The detection signal can be in the form of sound waves, light signals, or electromagnetic waves, and is received by the detection element 01 after being reflected by the calibration element 02. As grass clippings accumulate in the grass-collecting space 065, the surface of the calibration element 02 is gradually covered by grass clippings. Different thicknesses of grass clippings will have corresponding effects on parameters such as the propagation speed, reflection intensity, or signal waveform of the detection signal. By analyzing the differences in specific characteristics between the received signal and the initial signal, or the signal from the previous moment, or the preset signal, the detection element 01 can identify the current accumulation state of the grass clippings, and thus accurately determine whether the grass-collecting space 065 has reached the overflow condition. The preset signal has the same characteristics as the signal received by the detection element 01 when the grass is full.

[0041] In some embodiments of this application, the detection element 01 is disposed at the top of the grass collection space 065, while the calibration element 02 is disposed at the bottom of the grass collection space 065. The two are arranged opposite each other in the vertical direction to form a detection path.

[0042] As an alternative implementation, the grass inlet 064 is connected to the grass discharge outlet 047 of the mowing robot. Grass clippings enter the grass collection space 065 from the grass inlet 064. When the grass clippings accumulate to a high height at the grass inlet 064, it affects the discharge of grass from the grass discharge outlet 047. Understandably, when the grass clippings accumulate to a high height at the grass inlet 064, they block the grass clippings from the grass discharge outlet 047, preventing them from entering the grass collection space 065. Consequently, the grass clippings fall onto the working base surface 10 of the mowing robot. In response to the situation described above, the detection component 01 is placed at the top of the grass inlet 064 of the grass collection space 065, while the calibration component 02 is placed at the bottom of the grass collection space 065 and positioned close to the grass inlet 064. This arrangement can specifically detect the accumulation of grass clippings near the entrance of the grass collection space 065. When the accumulation height detected at the grass inlet 064 reaches a preset height, it is determined that the grass collection space 065 is full of grass, thereby cleaning the grass clippings in the grass collection space 065 and preventing the grass clippings from the grass discharge outlet 047 from entering the grass collection space 065.

[0043] In some embodiments of this application, the condition for determining whether the grass collection space 065 is full of grass is whether the actual height of the grass clippings accumulated in the grass collection space 065 is greater than a preset height value. To satisfy this detection logic, the installation height of the detection element 01 is set to be greater than the preset height, while the installation height of the calibration element 02 is correspondingly set to be less than the preset height. This positional relationship ensures that the detection signal emitted by the detection element 01 and reflected back by the calibration element 02 can propagate normally without obstruction before the grass clippings continue to accumulate and reach the preset height. When the grass clippings accumulate to the preset height and continue to cover the calibration element 02, the propagation path or reflection characteristics of the detection signal will undergo a identifiable change, and the detection element 01 can determine that the grass collection space 065 has reached the full grass state by capturing this change.

[0044] like Figure 6 and Figure 7 As shown, in some embodiments of this application, the grass fullness detection component includes a signal amplifier 03, which covers the detection element 01. The signal amplifier 03 has a hemispherical structure with an internal accommodating space, and the detection element 01 is disposed within the signal amplifier 03. The function of the signal amplifier 03 is to enhance the detection signal, specifically by amplifying the intensity of the detection signal emitted by the detection element 01 and the intensity of the detection signal reflected back to the detection element 01 by the calibration element 02. By setting the hemispherical signal amplifier 03, on the one hand, the hemispherical signal amplifier 03 can cover the detection field of view of the detection element 01; on the other hand, the detection element 01 can effectively focus the energy of the detection signal, compensating for the attenuation of the signal caused by factors such as debris obstruction and spatial diffusion during the propagation process, thereby improving the signal-to-noise ratio of the detection signal and the sensitivity of the detection system to changes in the thickness of the grass debris accumulation, ensuring the reliability of the grass fullness judgment.

[0045] In some embodiments of this application, the detection element 01 employs a millimeter-wave radar to achieve high-precision detection of grass clipping height. Correspondingly, the calibration element 02 is a metal plate located within the detection field of view of the millimeter-wave radar. The metal plate has good electromagnetic wave reflection characteristics; when the amount of grass clipping in the grass collection space 065 changes, the detection signal reflected back through the metal plate and received by the detection element 01 will show a significant change. Therefore, using a metal plate for the calibration element 02 can improve the accuracy of detecting the overflow status of the grass collection space 065. The metal plate can be made of iron, aluminum alloy, stainless steel, or other metal materials. The metal plate is fixedly installed within the grass collection space 065, ensuring that it is within the effective coverage range of the millimeter-wave radar's detection field of view. During operation, the millimeter-wave radar emits millimeter-wave frequency electromagnetic wave signals towards the metal plate and receives the echo reflected by the metal plate. When grass clippings accumulate in the grass collection space 065 and gradually cover the metal plate, they will change the reflection intensity or phase information of the millimeter wave signal. By analyzing these changes in signal characteristics, the millimeter wave radar can accurately sense the accumulation height of the grass clippings, thereby achieving reliable detection of the overflow state of the grass collection space 065.

[0046] Millimeter-wave radar emits electromagnetic waves that have some penetrating power through grass clippings. When the radar emits electromagnetic waves into the grass collection space 065, the waves penetrate the grass clippings, resulting in a weak reflected signal. The electromagnetic waves emitted by the radar have weak penetrating power through metal plates, which reflect most of the waves back. When the amount of grass clippings in the grass collection space 065 changes, the characteristics of the electromagnetic waves reflected back through the metal plates change significantly. Therefore, the amount of grass clippings in the grass collection space 065 can be determined based on this significant change in electromagnetic wave characteristics.

[0047] In some embodiments of this application, the metal plate used in the calibration component 02 has a reflective surface dedicated to reflecting and detecting signals. A gain structure for increasing reflectivity is formed on the reflective surface. This gain structure can be achieved through specific surface treatment processes or physical configurations, such as frosting the reflective surface to form a microstructure that enhances diffuse reflection, or processing regularly arranged fin-like protrusions on the reflective surface to directionally converge the reflected beam.

[0048] In some embodiments of this application, to ensure sufficient reflected signal, the effective area of ​​the metal plate reflective surface is set to be no less than 30 square centimeters, thereby providing a sufficient reflection area for the detection signal, which helps to reduce signal fluctuations caused by local accumulation of grass clippings or changes in posture, and thus ensures the accuracy of the detection results.

[0049] like Figure 1 and Figure 2As shown, this application also provides a lawnmower robot, including the grass full detection component in the above embodiments. Based on this, the lawnmower robot also possesses all the technical advantages brought by the grass full detection component in the above embodiments, such as the ability to achieve high-precision and high-reliability detection of the grass collection space 065 overflow state, thereby effectively overcoming the inaccuracy problem of timing-based judgment methods in related technologies.

[0050] In some embodiments of this application, the lawnmower robot includes a device body 04. A detection element 01 is installed on the device body 04, and the grass inlet 064 of the lawnmower robot's grass collection space 065 is interconnected with the grass outlet 047 of the device body 04 to ensure that the grass clippings generated during the lawnmower operation can smoothly enter the grass collection space 065.

[0051] In some embodiments of this application, the device body 04 is provided with an installation platform 041, and the detection component 01 is disposed on the installation platform 041. The installation platform 041 facilitates the installation of the detection component 01 on the device body 04.

[0052] The mounting platform 041 has a mounting ramp 0411, which is configured to face the calibration element 02 located in the grass collection space 065. The detection element 01 is mounted on the mounting ramp 0411. This arrangement helps to align the detection signal of the detection element 01 with the calibration element 02, optimizes the signal propagation path, and improves the accuracy and stability of the detection.

[0053] In some embodiments of this application, the working base 10 is the plane on which the lawnmower robot operates, such as on the ground, where the working base 10 is parallel to the horizontal plane. When the lawnmower robot is in normal working condition and parked on the working base 10, the mounting slope 0411 of the mounting platform 041 is not parallel to or perpendicular to the working base 10, but forms a specific inclined angle with the working base 10. The optimized value range of this angle is set between 40 and 45 degrees. The detection element 01 is mounted on the mounting slope 0411. With this configuration, the detection signal emitted by the detection element 01 can be directed at the calibration element 02 located at the bottom of the grass collection space 065 at a better incident angle, thereby minimizing the invalid loss and interference reflection of the detection signal on the propagation path and ensuring the efficiency and stability of the detection signal transmission and reception.

[0054] When the lawnmower robot is working on the work surface 10, such as a grassy area, its mowing component 07 cuts the grass and discharges the grass clippings from the discharge port 047 on the robot's main body 04. Along the robot's forward direction, a grass clipping treatment component 12 is located at the rear of the main body 04. This component guides or collects the grass clippings generated during cutting and exiting from the discharge port 047, preventing them from splashing out and hitting the operator.

[0055] This application provides a lawn mowing robot, which aims to solve the technical problem in the prior art that it is difficult to effectively determine whether the grass clipping component 12 is correctly installed.

[0056] Figure 4 and Figure 13 This is a schematic diagram of the structure of the lawnmower's grass clipping processing component 12 after it has been disassembled in this embodiment of the application. It can be considered as the main body of the lawnmower. From Figure 4 It is known that the device body 04 is provided with a grass discharge port 047 for discharging grass clippings. The mowing assembly 07 is located at the bottom of the device body 04 and is used to cut grass and trees during the mowing robot's mowing operation. The support member 08 is located on the device body 04 and is used to connect the grass clipping processing assembly 12. When the grass clipping processing assembly 12 is connected to the support member 08, it can at least partially cover the aforementioned grass discharge port 047, so that the grass clipping processing assembly 12 can guide or collect the grass clippings generated during cutting and discharged from the grass discharge port 047. It is understood that the grass discharge port 047 is connected to the mowing assembly 07, and the blade of the mowing assembly 07 can be seen through the grass discharge port 047, that is, the blade is exposed in the grass discharge port 047. When the grass discharge port 047 is not covered, the exposed blade is relatively dangerous, especially when the blade of the mowing assembly 07 is working, the blade rotates to cut grass and trees, and when the blade of the mowing assembly 07 is working, grass clippings are discharged through the grass discharge port 047. As the cutter rotates, grass clippings are flung out from the discharge port 047. These clippings can easily fly onto the operator, even into their mouth, nose, and eyes. The clipping treatment component 12 blocks the discharge port 047 to prevent clippings from scattering, but does not prevent them from exiting. Understandably, the clipping treatment component 12 guides or collects the clippings generated during cutting and exiting from the discharge port 047. This can be achieved by connecting the clipping treatment component 12 to the support member 08, linking it to the mowing robot, and creating an opening at the discharge port 047 facing the working surface to guide the clippings onto the working surface; or by connecting the clipping treatment component 12 to the support member 08, linking it to the mowing robot, and creating a collection space at the discharge port 047 to collect the clippings.

[0057] The detection sensor 13 is used to determine the connection status of the support 08. Specifically, the detection sensor 13 can determine whether the grass clipping assembly 12 is connected to the support 08, and if the grass clipping assembly 12 is detected to be installed, it can further identify the specific type of the installed grass clipping assembly 12.

[0058] In some embodiments of this application, upon receiving a mowing command, the lawnmower robot first determines the connection status of the support member 08 detected by the detection sensor 13. If the detection result indicates that the support member 08 is not connected to the grass clipping assembly 12, the control system of the lawnmower robot will control the mowing assembly 07 not to start working, thereby fundamentally eliminating the safety hazards that may be caused by the grass clipping assembly 12 not being connected. That is, upon receiving a mowing command, if the support member 08 is not connected to the grass clipping assembly 12, the mowing assembly 07 will not work. Conversely, if the support member 08 is detected to be connected to the grass clipping assembly 12, the control system determines that the safety conditions have been met and then allows or directly controls the mowing assembly 07 to enter the normal working mode to perform the mowing operation. That is, if the support member 08 is connected to the grass clipping assembly 12, the control system controls the mowing assembly 07 to work. Through the above control method, it is ensured that the mowing assembly 07 can only operate after the grass clipping assembly 12 is installed in place, significantly improving the safety performance of the equipment.

[0059] In some embodiments of this application, the lawnmower robot includes an alarm component (not shown). When the control system of the lawnmower robot receives a mowing command, it determines the connection status of the support member 08 based on the signal fed back by the detection sensor 13. If the connection status of the support member 08 is that the grass clipping component 12 is not connected, the control system will simultaneously trigger the alarm component, causing the alarm component to emit corresponding optical, acoustic, or other forms of prompting information to warn the operator that the current equipment is in a state where the grass clipping component 12 is not installed.

[0060] like Figure 13 As shown in some embodiments of this application, the grass clipping treatment component 12 is divided into different types according to its function, mainly including a grass collecting component 06 and a grass blocking component 11. The main function of the grass collecting component 06 is to collect and temporarily store the grass clippings cut by the mowing component 07, while the grass blocking component 11 is used to guide, control or restrict the movement direction of the grass clippings after cutting, for example, to spread the grass clippings discharged from the grass discharge port 047 on the ground or guide them to a specific area, thereby preventing the grass clippings from splashing in all directions.

[0061] In some embodiments of this application, the operating parameters of the lawnmower robot are adjusted according to the specific type of the grass clipping processing component 12 installed. Specifically, when the lawnmower robot recognizes that the support 08 is connected to the grass collection component 06, the control system of the lawnmower robot will control the mowing component 07 to operate at a first cutting speed when performing mowing operations, in order to meet the requirements of grass clipping collection efficiency in the grass collection mode. The first cutting speed is a relatively high cutting speed. After cutting the grass, the blades of the mowing component 07 drive the grass clippings out of the discharge port 047 through the speed of the blades, so that the grass clippings can enter the grass collection space 065 in the grass collection component 06. When the lawnmower robot recognizes that the support 08 is connected to the grass barrier 11, the control system controls the mowing component 07 to operate at a relatively low second cutting speed. This speed setting is more suitable for controlling the grass clipping scattering or spreading effect in the grass barrier mode. Here, the first cutting speed is configured to be greater than the second cutting speed.

[0062] like Figure 8 As shown, in some embodiments of this application, the detection sensor 13 includes at least one first detection sensor 131 and at least one second detection sensor 132, thereby enabling the detection sensor 13 to distinguish between different types of grass clipping processing components 12. When the lawnmower robot is working, if the installed grass clipping processing component 12 is a grass collection component 06, as... Figure 11 As shown, the sensor trigger 0621 on the grass collecting assembly 06 corresponds to the position of the first detection sensor 131, and triggers the first detection sensor 131. Correspondingly, when the installed grass clipping assembly 12 is a grass barrier 11, the sensor trigger on the grass barrier 11 corresponds to the position of the second detection sensor 132, and triggers the second detection sensor 132. By determining whether the first detection sensor 131 or the second detection sensor 132 is triggered, the control system can accurately identify the specific type of the currently installed grass clipping assembly 12, thereby providing a basis for subsequent execution of the corresponding control strategy.

[0063] like Figure 7 and Figure 8As shown, in some embodiments of this application, the detection sensor 13 and the detection element 01 are respectively disposed on opposite sides of the mounting platform 041. In one example, the detection sensor 13 is disposed on the upper side of the mounting platform 041. When the grass collection assembly 06 is connected to the support member 08, the sensing trigger 0621 on the grass collection assembly 06 can contact the detection sensor 13 on the upper side of the mounting platform 041, and the mounting platform 041 can support the sensing trigger 0621. The detection element 01 is disposed on the lower side of the mounting platform 041. When the grass collection assembly 06 is connected to the support member, the detection element 01 can face the grass collection space 065 in the grass collection assembly 06, thereby emitting a detection signal into the grass collection space. In addition, the positional arrangement of the detection sensor 13 and the detection element 01 can effectively avoid mutual interference between the two detection elements in space, ensuring the independence and reliability of their respective functions.

[0064] When the support member 08 is connected to the grass collection assembly 06, the mounting platform 041 extends into the grass collection space 065. The mounting platform 041, together with the detection sensor 13 and the detection element 01 it carries, extends into the grass collection space 065 inside the grass collection assembly 06, so that the detection element 01 can emit a detection signal toward the grass collection space 065, thereby detecting the overflow of grass clippings in the grass collection space 065.

[0065] like Figure 8 and Figure 9 As shown, in some embodiments of this application, the lawnmower robot includes a flipping mechanism 05, which drives the support member 08 to rotate. When the grass collection component 06 is connected to the support member 08, the detection member 01 detects that the grass collection space 065 is full. The flipping mechanism 05 can then drive the support member 08 to rotate, causing the grass collection component 06 to flip, so that the grass clippings in the grass collection space 065 are poured out from the grass inlet 064. In addition, the flipping mechanism 05 can adjust the position of the grass collection component 06 connected to the support member 08 relative to the device body by driving the support member 08 to rotate.

[0066] In one example, the lawnmower robot has a mounting cavity 046 on the side facing the grass collection component 06, and the flipping mechanism 05 is installed inside the mounting cavity 046. To protect the flipping mechanism, the mounting cavity 046 is provided with a cover plate 042, which is connected to the cavity wall 0465 of the mounting cavity 046, together forming a closed space for accommodating and protecting the flipping mechanism 05. The mounting platform 041 is disposed on the cover plate 042. In one example, the mounting platform 041 is disposed on the outer surface of the cover plate 042, so that the detection sensor 13 and the detection element 01 are located outside the closed space, facilitating interaction with the grass collection component 06.

[0067] like Figure 11 and Figure 12As shown, in some embodiments of this application, the grass collection component 06 specifically includes a support frame 061 and a grass collection bag 062. The grass collection bag 062 is fitted onto the support frame 061, which is detachably connected to the support member 08. When the grass collection component 06 is connected to the support member 08, the flipping mechanism 05 can drive the support frame 061, along with the grass collection bag 062, to swing relative to the device body 04 at a certain angle. This swinging motion helps to empty the grass clippings collected in the grass collection bag 062.

[0068] In the related technology, the grass collection component 06 includes a support frame 061 and a grass collection bag 062. The grass collection bag 062 needs to be fitted onto the support frame 061, and then the support frame 061 with the grass collection bag 062 is connected to the lawn mowing robot so that the grass collection component 06 can collect grass clippings.

[0069] However, in related technologies, the sensing trigger 0621 of the grass collection component is located on the support frame 061. This results in a situation where the lawnmower can recognize the grass collection component 06 as connected even if only the support frame 061 is connected. In this case, when the lawnmower operates, grass clippings fly out from the discharge port 047 and scatter in all directions, posing a safety hazard.

[0070] To address the technical problems existing in related technologies, this application provides a grass collection bag 062 for use in a lawnmower robot. The grass collection bag 062 can be installed on the device body 04 to collect grass clippings. A sensor trigger 0621 is provided on the grass collection bag 062. When the grass collection bag 062 is installed in a predetermined working position on the device body 04, the position of the sensor trigger 0621 corresponds to the detection sensor 13 provided on the device body 04, and can trigger the detection sensor 13. This allows the device control system to confirm that the grass collection bag 062 is in the working position, providing a basis for subsequent device startup or adaptation to the corresponding working mode.

[0071] Understandably, when the grass collection bag 062 is fitted onto the support frame 061, and the grass collection bag 062, together with the support frame 061, is connected to the mowing robot, the sensor trigger 0621 on the grass collection bag 062 triggers the detection sensor 13 on the mowing robot, thereby enabling the equipment control system to confirm that the grass collection assembly 06 is in the working position. This avoids the situation where only the support frame 061 is connected to the mowing robot, and the mowing robot identifies the grass collection assembly as connected.

[0072] In some embodiments of the present application, the induction trigger 0621 is generally installed at the edge of the feed opening of the grass collecting bag 062. It can be understood that installing the induction trigger 0621 at the edge of the feed opening of the grass collecting bag 062, and installing it in an area within 10 cm from the edge of the feed opening, both fall within the protection scope of the present application. With such a design for the position of the induction trigger 0621, when the grass collecting bag 062 is installed on the device body 04, the induction trigger 0621 can face the detection inductor 13 located on the device body 04, thereby ensuring the reliability of detection. Arranging the induction trigger 0621 at the edge of the feed opening can facilitate it to be as close as possible to the detection inductor 13, so as to trigger the detection inductor 13.

[0073] In some embodiments of the present application, the detection inductor 13 adopts a Hall sensor, and the induction trigger 0621 disposed on the grass collecting bag 062 correspondingly adopts a magnetic member. When the grass collecting bag 062 is installed in place, the magnetic member enters the effective induction range of the Hall sensor, and the Hall sensor outputs an electrical signal by detecting the change of the magnetic field, thereby accurately determining that the grass collecting bag 062 is in the working position. This non-contact detection scheme has the advantages of high reliability and long service life.

[0074] To solve the problems of long grass clipping conveying path and unreasonable structural layout of the lawn mowing robot, the present application provides a lawn mowing robot. As Figures 1 to 3 shows, the lawn mowing robot comprises a grass collecting assembly 06, a turnover mechanism 05 and a mowing assembly 07. Wherein, the grass collecting assembly 06 is used for storing grass clippings generated during mowing operation, and the turnover mechanism 05 is used for driving the grass collecting assembly 06 to rotate around a first axis l1 during unloading, so that the grass clippings in the grass collecting assembly 06 can be smoothly dumped and discharged from the opening thereof. The mowing assembly 07 comprises a rotatable cutting knife 071, and the distance between the projection of the rotation center of the cutting knife 071 and the projection of the first axis l1 of the grass collecting assembly 06 on a working base surface 10 (e.g., the ground) is d. The lawn mowing robot comprises a driving wheel 043 for walking, and the diameter of the driving wheel 043 is D. By controlling the ratio of the projection distance d to the diameter D of the driving wheel within a specific range, that is, satisfying the relational expression 0.5 < d / D < 1.5, the turnover mechanism 05 and the mowing assembly 07 can be as close as possible in spatial layout, effectively shortening the conveying path of grass clippings, which not only reduces the risk of clogging during grass clipping conveying, but also improves the compactness and layout rationality of the whole machine structure.

[0075] The overturning mechanism 05 comprises a driving member 054, and the driving member 054 at least includes a motor. Since the overturning mechanism 05 has a relatively large weight, the positional layout of the overturning mechanism 05 will affect the center of gravity position of the lawn mowing robot. Therefore, controlling the ratio of the projection distance d to the diameter D of the driving wheel to satisfy 0.5<d / D<1.5 can also effectively adjust the overall center of gravity distribution of the lawn mowing robot, and suppress the backward tilting moment generated on the lawn mowing robot when the grass collecting assembly 06 overturns, thereby preventing the front end of the lawn mowing robot from lifting up and ensuring the stability and continuity of the lawn mowing robot during the grass unloading process.

[0076] As Figure 2 shows, in some embodiments of the present application, the projection distance d from the rotation center of the cutting knife 071 to the first axis l1 on the working base surface 10 is set to be smaller than the diameter D of the driving wheel 043, thereby reducing the spatial span between the inlet of the grass collecting assembly 06 and the cutting knife 071 as much as possible, effectively shortening the flow channel distance for grass clippings to be conveyed from the cutting position to the collecting position, which is beneficial to improve the collecting effect and reduce the leakage of grass clippings during the conveying process. In addition, the smaller projection distance d helps the projection position of the overall center of gravity of the whole machine on the working base surface 10 to move forward, so that when the grass collecting assembly 06 overturns, it can effectively balance the backward tilting moment generated by the backward shift of the center of gravity of the lawn mowing robot, suppress the lifting trend of the front end of the lawn mowing robot body, and ensure the operation stability.

[0077] As Figure 1 and Figure 2 shows, in some embodiments of the present application, there are two driving wheels 043, which are respectively arranged on the left and right sides of the robot body to provide traveling power. On the projection of the working base surface 10, both the rotation center of the cutting knife 071 and the first axis l1 for rotation of the grass collecting assembly 06 are located between the two driving wheels 043. It can be understood that connecting the diameters of the two driving wheels 043 parallel to the advancing direction forms a rectangle, and both the rotation center of the cutting knife 071 and the first axis l1 for rotation of the grass collecting assembly 06 are located within this rectangle.

[0078] In some embodiments of the present application, the driving wheel 043 rotates around the second axis l2 by itself, and the projection distance d1 of the first axis l1 and the second axis l2 on the working base surface 10 is configured to be smaller than the radius r of the driving wheel 043. This relative positional relationship enables the overturning axis of the grass collecting assembly 06 to be very close to the grounding point of the driving wheel 043 on the projection of the working base surface 10, thereby shortening the length of the force arm during overturning, effectively suppressing the backward tilting moment, and playing a certain role in preventing the front end of the robot from tilting upward.

[0079] As Figure 2As shown, in some embodiments of this application, the mowing assembly 07 includes a blade cover 072 and a grass clipping conveying channel 073 integrally formed with the blade cover 072. The cutter 071 is rotatably housed within the internal space of the blade cover 072, and the blade cover 072 has a discharge port 0721. One end of the grass clipping conveying channel 073 is connected to the discharge port 0721, and the other end leads to the inlet of the grass collecting assembly 06, thus forming a path for conveying the cut grass clippings to the grass collecting assembly 06. It is worth noting that the grass clipping conveying channel 073 is open on the side facing the working base 10, that is, the grass clipping conveying channel 073 is open on the side facing the working base 10. This can prevent grass clipping from clogging the grass clipping conveying channel 073. In addition, since the ratio of the projection distance d of the rotation center of the cutter 071 to the first axis l1 on the working base 10 to the diameter D of the drive wheel is controlled within a specific range, it not only effectively adjusts the overall center of gravity distribution of the mowing robot, but also shortens the length of the grass clipping conveying channel 073. The grass clipping can be well thrown out of the grass discharge port 047 by the rotation of the cutter 071.

[0080] like Figure 8 and Figure 9 As shown, in some embodiments of this application, the flipping mechanism 05 specifically includes a drive shaft 051, a positioning member 052 mounted on the drive shaft 051, and a position sensor 053 for detecting the angular position of the positioning member 052. When the drive shaft 051 rotates under the action of the drive member 054, it synchronously drives the positioning member 052 to rotate as well. When the positioning member 052 rotates with the drive shaft 051 to a first preset angle, it triggers the position sensor 053 to generate a corresponding first signal. Similarly, when it rotates to a second preset angle, it triggers the position sensor 053 to generate a second signal. The position sensor 053 can be a light sensor. When the positioning member 052 rotates with the drive shaft 051 to the first preset angle and to the second preset angle, the positioning member 052 blocks the light from the light sensor, thereby triggering the position sensor 053. It can be understood that, for the first preset angle position and the second preset angle position of the positioning member 052, a light-emitting component and a light-receiving component are respectively provided at the corresponding positions of the position sensor 053. When the positioning element 052 rotates to the first preset angle position and the second preset angle position, it will block the light emitted by the light-emitting component at the corresponding position. The light-receiving component will not receive the light, thereby determining that the positioning element 052 has rotated to the first preset angle position or the second preset angle position. The position sensor can also be a trigger switch. When the positioning element 052 rotates to the first preset angle position and the second preset angle position, the positioning element 052 will trigger the switch, thereby generating a signal.

[0081] Since the function of the flipping mechanism 05 is to drive the grass collecting component 06 to flip around the first axis l1 to achieve unloading, by capturing the different signals generated by the position sensor 053 triggered by the positioning component 052, it is possible to accurately determine whether the grass collecting component 06 is in the working position or the unloading position, thereby achieving reliable monitoring of the current operating posture of the grass collecting component 06.

[0082] like Figure 8 and Figure 9 As shown, in some embodiments of this application, the flipping mechanism 05 includes a support member 08. Exemplarily, at least two support members 08 are provided, respectively connected to both ends of the drive shaft 051, and can rotate together with the drive shaft 051. A hanging groove 081 is provided on the support member 08, which can be engaged with a corresponding hook 063 provided on the grass collecting assembly 06. Through this engagement, when the drive shaft 051 drives the support member 08 to rotate around the first axis l1, the support member 08 can drive the entire grass collecting assembly 06 to flip around the first axis l1 through the transmission between the hanging groove 081 and the hook 063, thereby realizing the grass-tipping operation of the mowing robot.

[0083] like Figure 4 and Figure 5 As shown, in some embodiments of this application, the lawnmower robot has a mounting cavity 046 on the side facing the grass collection component 06, and the main body of the flipping mechanism 05 is housed within this mounting cavity 046. For example, the drive shaft 051, drive component 054, and other related structures of the flipping mechanism 05 are housed within this mounting cavity 046. To improve safety and dust prevention, baffles 09 are provided on the left and right sides of the mounting cavity 046 to shield and protect the internal flipping mechanism 05 from the sides. A mounting opening 0461 is provided above the mounting cavity 046. The mounting opening 0461 provides the necessary space for the movement of the support component 08, and the design of the mounting opening 0461 facilitates the installation of the hook 063 of the grass collection component 06 onto the support component. Specifically, at least a portion of the vertical projection of the support member 08 on the working base surface 10 falls within the projection area of ​​the mounting port 0461 on the working base surface 10, so as to ensure that when the support member 08 drives the grass collecting component 06 to rotate, the movement path of the grass collecting component 06 will not interfere with the robot body structure. At the same time, the mounting port 0461 also facilitates the connection operation between the support member 08 and the grass collecting component 06.

[0084] like Figure 5 As shown, in some embodiments of this application, the mounting cavity 046 is provided with a connection opening 0462 on the side facing the grass collection component 06. At least a portion of the edge of the connection opening 0462 is formed with a support portion 0463 protruding toward the grass collection component 06. When the grass collection component 06 is installed in place, the support portion 0463 can provide support for the grass collection component 06 to improve the placement stability of the grass collection component 06 in a non-tilting state.

[0085] In some embodiments of this application, the bottom of the mounting cavity 046 has an inclined surface 0464, which helps guide grass clippings to move into the grass collection space, or helps guide grass clippings to move into the opening of the grass barrier 11 and be discharged, reducing accumulation. The mounting cavity 046 is provided with a cover plate 042, which is connected to the cavity wall 0465 of the mounting cavity 046 to form a relatively closed cavity, thereby accommodating the main body of the flipping mechanism 05 and providing a certain degree of protection; in this configuration, the position sensor 053 can be fixedly connected to the cavity wall 0465 of the mounting cavity 046.

[0086] It is conceivable that a mounting box can be installed inside the mounting cavity 046. The mounting box is detachably installed inside the mounting cavity 046, and an accommodating space is formed inside the mounting box. The transmission part of the flipping mechanism 05 is accommodated inside the mounting box, while the support member 08 is located outside the accommodating space. In this configuration, the position sensor 053 can be connected to the inner wall of the mounting box, which facilitates installation, subsequent debugging, and maintenance.

[0087] like Figure 8 and Figure 9 As shown, in some embodiments of this application, the flipping mechanism 05 includes a drive member 054, which drives the transmission shaft 051 to rotate around its own axis, i.e., the drive member 054 drives the transmission shaft 051 to rotate around the first axis l1. The drive member 054 is spatially positioned below the transmission shaft 051. The position sensor 053 is at least partially located between the drive member 054 and the transmission shaft 051 to fully utilize the unused space below the transmission shaft 051. The vertically staggered arrangement of the drive member 054 and the position sensor 053 helps reduce the space occupied by the flipping mechanism 05 in the direction of travel of the lawnmower robot, thereby contributing to the miniaturization and compactness of the overall structure of the lawnmower robot. Furthermore, reducing the space occupied by the flipping mechanism 05 in the direction of travel of the lawnmower robot can indirectly shorten the length of the grass clipping conveying channel 073.

[0088] like Figure 1 and Figure 2As shown, in some embodiments of this application, the lawnmower robot includes a chassis 044 and a shell 045 covering the chassis 044. The mowing component 07, which performs the cutting function, is disposed on the chassis 044. The shell 045 has a mounting cavity 046 formed on the side near the grass-collecting component 06 for accommodating the flipping mechanism 05. Most of the components of the lawnmower robot are integrated into the chassis 044, such as the mowing component 07 and drive wheels 043. The chassis 044 serves as the main frame of the lawnmower robot, supporting its main weight. The shell 045 acts as a protective cover for the components on the chassis 044, covering them to provide protection. The mounting cavity 046 is located within the shell; it is formed during the molding of the shell 045. This design minimizes gaps in the lawnmower robot's shell, resulting in better waterproofing.

[0089] like Figure 11 and Figure 12 As shown, in some embodiments of this application, the grass collection component 06 includes a support frame 061 and a grass collection bag 062. The grass collection bag 062 is fitted onto the support frame 061 and is held in an unfolded state by the support frame 061. The support frame 061 is a foldable structure to facilitate compact storage of the grass collection component 06 during non-working periods or when storage is required.

[0090] Specifically, the support frame 061 includes a bag depth support frame 0611 at the top, a bag opening support frame 0612 on the side, and diagonal braces 0613 supporting these two parts. The bag depth support frame 0611 and the bag opening support frame 0612 are rotatably connected at their adjacent edges via a hinge structure. Two diagonal braces 0613 are provided, respectively arranged on the left and right sides of the support frame 061. One end of each diagonal brace 0613 is hinged to the bag opening support frame 0612, while the other end is detachably snapped onto the bag depth support frame 0611. Thus, the bag depth support frame 0611, the bag opening support frame 0612, and the diagonal braces 0613 can form a stable triangular support structure, ensuring that the shape of the grass collection bag 062 is maintained in the working state. When folding is required, the operator first separates the diagonal brace 0613 from the bag depth support frame 0611 to release the triangular support constraint. Then, the bag depth support frame 0611, the bag opening support frame 0612, and the diagonal brace 0613 can be stacked together to achieve a significant reduction in the volume of the grass collection component 06.

[0091] like Figure 11 and Figure 12As shown, in some embodiments of this application, the grass-collecting component 06 specifically includes a support frame 061 and a hook 063, with the hook 063 connected to the support frame 061. The hook 063 is formed by bending a first connecting rod 0631, while the support frame 061 is composed of multiple second connecting rods 0614 connected together. The outer diameter of the second connecting rods 0614 constituting the support frame 061 is set to be smaller than the outer diameter of the first connecting rods 0631 constituting the hook 063. Since the hook 063 is the load-bearing part that is directly connected to the support member 08 and bears the main weight of the grass-collecting component 06, a first connecting rod 0631 with a larger diameter is used to meet the strength requirements of the hook 063; while the main function of the support frame 061 is to maintain the shape of the grass-collecting bag 062, by using second connecting rods 0614 with a smaller diameter, the overall frame can be effectively lightweighted while ensuring the stability of the basic structure.

[0092] In some embodiments of this application, the outer diameter of the second connecting rod 0614 is D1, and the outer diameter of the first connecting rod 0631 is D2. The outer diameters of the second connecting rod 0614 and the first connecting rod 0631 satisfy 0.3 < D1 / D2 < 0.8, thereby achieving an optimized balance between structural strength and material lightweighting. This ensures that the hook 063, as the main load-bearing component, has sufficient mechanical properties, while also minimizing the material usage of the support frame 061 while meeting its basic support functions. This achieves overall lightweighting of the grass collection assembly 06 and controls manufacturing costs.

[0093] like Figure 8 and Figure 9 As shown, this application provides a flipping mechanism 05 for use in a lawnmower robot. The flipping mechanism 05 includes a drive member 054, a transmission shaft 051, and a support member 08. The drive member 054 drives the transmission shaft 051 to rotate, and the support member 08 is connected to the transmission shaft 051. The support member 08 is provided with a hanging groove 081, which can be engaged with the hook 063 of the grass collection assembly 06. The outline of the hanging groove 081 includes an arc segment 0811 and two elongated segments 0812 respectively connected to both ends of the arc segment 0811. This specific groove shape helps guide the hook 063 smoothly into the working position during engagement and provides a stable transmission connection during the flipping process.

[0094] like Figure 10As shown, in some embodiments of this application, the central angle corresponding to the arc segment 0811 is set to a range of 30° to 180°; the ratio between the length L of the elongated segment 0812 and the radius R of the arc segment 0811 satisfies the relationship L / R>1.5. This range of central angles ensures that the hook 063 has sufficient travel within the arc segment 0811 to adapt to different connection postures, while the aforementioned aspect ratio ensures that the elongated segment 0812 has sufficient guiding length, facilitating the smooth sliding of the hook 063 into or out of the hanging slot 081, thereby jointly ensuring the reliability and smoothness of the connection and separation actions between the support member 08 and the grass collection assembly 06.

[0095] This application provides a lawn mowing system, including a base station (not shown) and a lawn mowing robot as described in any of the above embodiments. The base station has at least the capability to charge the lawn mowing robot. The base station serves as a reliable energy supply node for the lawn mowing robot, and the two work together to form an intelligent lawn mowing system capable of long-term automated operation.

[0096] 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, include: The main body of the equipment (04) has a grass discharge port (047). A mowing assembly (07) is located at the bottom of the device body (04) and is used to perform mowing operations; A support member (08) is provided on the device body (04) for connecting with the grass clipping assembly (12). When the grass clipping assembly (12) is connected to the support member (08), the grass discharge port (047) is at least partially blocked by the grass clipping assembly (12). The detection sensor (13) is used to determine the connection status of the support (08) and, when the grass clipping assembly (12) is connected to the support (08), to determine the type of the grass clipping assembly (12).

2. The lawnmower robot as described in claim 1, characterized in that, Upon receiving a mowing command, if the support member (08) is not connected to the grass clipping assembly (12), the mowing assembly (07) will not work; if the support member (08) is connected to the grass clipping assembly (12), the mowing assembly (07) will be controlled to work.

3. The lawnmower robot as described in claim 1, characterized in that, The lawn mowing robot includes an alarm component. When a lawn mowing command is received, if the support member (08) is not connected to the grass clipping processing component (12), the alarm component will issue a prompt message.

4. The lawnmower robot as described in claim 1, characterized in that, The type of the grass clipping treatment component (12) includes a grass collection component (06) or a grass barrier (11).

5. The lawnmower robot as described in claim 4, characterized in that, When the grass collection assembly (06) is connected to the support member (08), the grass mowing assembly (07) has a first cutting speed when performing grass mowing operations. When the grass blocking member (11) is connected to the support member (08), the grass mowing assembly (07) has a second cutting speed when performing grass mowing operations. The first cutting speed is greater than the second cutting speed.

6. The lawnmower robot as described in claim 4, characterized in that, The detection sensor (13) includes at least one first detection sensor (131) and at least one second detection sensor (132). When the grass clipping assembly (12) is a grass collection assembly (06), the first detection sensor (131) is triggered. When the grass clipping assembly (12) is a grass blocking assembly (11), the second detection sensor (132) is triggered.

7. The lawnmower robot as described in claim 6, characterized in that, The device body (04) is also provided with an installation platform (041), and the detection sensor (13) is detachably placed on the installation platform (041).

8. The lawnmower robot as described in claim 7, characterized in that, The installation platform (041) is also provided with a detection component (01). When the grass collection component (06) is connected to the support (08), the detection component (01) is used to determine the fullness of the grass collection space in the grass collection component (06).

9. The lawnmower robot as described in claim 8, characterized in that, The detection element (01) is inclined relative to the horizontal plane so that the detection element (01) emits a detection signal toward the grass collection space.

10. The lawnmower robot as described in claim 8, characterized in that, The detection sensor (13) and the detection sensor (01) are respectively disposed on opposite sides of the mounting platform (041). When the grass collection assembly (06) is connected to the support (08), the mounting platform (041) extends into the grass collection space.

11. The lawnmower robot as described in claim 7, characterized in that, It also includes a flipping mechanism (05) for driving the support member (08) to rotate; The lawnmower robot has an installation cavity (046) on the side facing the grass clipping assembly (12). The flipping mechanism (05) is installed in the installation cavity (046). The installation cavity (046) is provided with a cover plate (042). The cover plate (042) is connected to the cavity wall of the installation cavity (046) to form a receiving cavity for accommodating the flipping mechanism (05). The installation platform (041) is disposed on the cover plate (042).

12. The lawnmower robot as described in claim 11, characterized in that, The grass collection component (06) includes a support frame (061) and a grass collection bag (062), the grass collection bag (062) being fitted onto the support frame (061), and the support frame (061) being detachably connected to the support member (08). When the grass collection assembly (06) is connected to the support member (08), the flipping mechanism (05) is used to drive the support frame (061) to swing relative to the device body (04).

13. The lawnmower robot as described in claim 12, characterized in that, The grass collection component (06) includes a hook (063), which is connected to the support frame (061). The hook (063) is formed by bending a first connecting rod (0631). The support frame (061) includes a plurality of second connecting rods (0614), and the outer diameter of the second connecting rod (0614) is smaller than the outer diameter of the first connecting rod (0631).

14. The lawnmower robot as described in claim 13, characterized in that, The outer diameter of the second connecting rod (0614) is D1, and the outer diameter of the first connecting rod (0631) is D2. The outer diameter of the second connecting rod (0614) and the outer diameter of the first connecting rod (0631) satisfy 0.3 < D1 / D2 < 0.

8.

15. A lawn mowing system, characterized in that, The system includes a base station and a lawnmower robot as described in any one of claims 1-14, wherein the base station is at least used to charge the lawnmower robot.

16. A grass-collecting bag for connection to the equipment body (04), characterized in that, The grass collection bag (062) is equipped with a sensor trigger (0621). When the grass collection bag (062) is installed on the device body (04), the sensor trigger (0621) is used to trigger the detection sensor (13) on the device body (04) to determine that the grass collection bag (062) is in the working position.

17. The hay-collecting bag as described in claim 16, characterized in that, The sensing trigger (0621) is generally installed at the edge of the feed inlet of the grass collection bag (062).

18. The hay-collecting bag as described in claim 16, characterized in that, The detection sensing element (13) is a Hall sensor, and the sensing trigger element (0621) is a magnetic element.

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