Automatic physical barrier avoidance mowing robot

Abstract

The utility model provides a kind of automatic physical obstacle avoidance mower robot, belong to garden maintenance technical field, to solve the existing mower robot, cutting produces the grass clippings, grass juice is easy to adhere sensor, leading to the problem of obstacle avoidance precision reduction, collision damage robot or obstacle. Including robot main body, signal antenna, cutting mechanism, side edge inductive plate, electronic sensor, front inductive plate, obstacle avoidance component and prevent cover component, the signal antenna is fixedly installed in robot main body top;The cutting mechanism is installed in robot main body bottom;The side edge inductive plate is slidably connected in robot main body left and right sides;The electronic sensor is fixedly installed in robot main body front;The front inductive plate is set in robot main body front;The obstacle avoidance component is set in robot main body outside;The prevent cover component is set in robot main body inside.The utility model has the advantages of reducing shielding, convenient to use, easy to maintain etc.

Description

Technical Field

[0001] This utility model belongs to the field of garden maintenance technology, and more specifically, it relates to an automatic physical obstacle avoidance lawn mowing robot. Background Technology

[0002] With the improvement of automation in garden maintenance, lawn mowing robots have been widely used in home courtyards, parks, and other green spaces. Existing lawn mowing robots mainly consist of a shell, drive mechanism, cutting mechanism, and sensing mechanism. The drive mechanism enables autonomous movement, the cutting mechanism completes lawn mowing, and the sensing mechanism relies on electronic sensing methods such as infrared, ultrasound, and cameras for obstacle avoidance.

[0003] Existing application number CN201620004088.9, this utility model relates to an automatic obstacle avoidance intelligent lawn mowing robot, including a lawn mowing robot body and a control system. The lawn mowing robot body includes a grass storage box, a mowing bucket box, a touch screen, a left front wheel, a right front wheel, a left rear wheel, a right rear wheel, a left stepper motor, a right stepper motor, a grass delivery roller, a support frame, a grass guiding roller, a transmission device, a mowing blade, an ultrasonic sensor, a mowing motor, a first belt, a second belt, two gyroscopes, a left front CCD camera, a right front CCD camera, a left rear CCD camera, and a right rear CCD camera. When the intelligent obstacle avoidance lawn mowing robot moves, it collects, converts, processes, and fuses information about its surrounding environment and orientation. The obtained surrounding environment information and posture information are fed back to the walking motor drive module to adjust the robot's running state, realizing the robot's motion control and thus achieving good lawn mowing results.

[0004] Based on the above, existing lawnmower robots generate a large amount of grass clippings, grass juice and other residues when cutting weeds. These residues are very easy to adhere to the sensing area and interaction parts of the sensors, causing the sensing signals to be blocked, distorted or the image acquisition to be blurry, resulting in a decrease in obstacle avoidance accuracy. In severe cases, it may even cause the robot to collide with the obstacle, which may damage the robot itself or the obstacle. Utility Model Content

[0005] To address the aforementioned technical problems, this utility model provides an automatic physical obstacle avoidance lawnmower robot. This addresses the issue that existing lawnmower robots generate a large amount of grass clippings, sap, and other residues when cutting weeds. These residues easily adhere to the sensor's sensing area and interaction points, causing sensor signal obstruction, distortion, or blurred image acquisition, resulting in decreased obstacle avoidance accuracy. In severe cases, it can even lead to collisions between the robot and obstacles, potentially damaging both the robot itself and the obstacles.

[0006] The purpose and effectiveness of this utility model of an automatic physical obstacle avoidance lawn mowing robot are achieved by the following specific technical means: An automated physical obstacle avoidance lawnmower robot includes a robot body, a signal antenna, a cutting mechanism, side sensor plates, electronic sensors, a front sensor plate, an obstacle avoidance component, and an anti-shading component. The signal antenna is fixedly installed on the top of the robot body; the cutting mechanism is installed on the bottom of the robot body; the side sensor plates are slidably connected to the left and right sides of the robot body; the electronic sensors are fixedly installed on the front of the robot body; the front sensor plate is located on the front of the robot body; the obstacle avoidance component is located on the outside of the robot body; and the anti-shading component is located inside the robot body.

[0007] Furthermore, the obstacle avoidance component includes: a through hole, a guide rod, and a return spring. The through hole is located in the middle of the front sensing plate, and its size is slightly larger than that of the electronic sensor. The guide rod is slidably connected to the front of the robot body, and the front sensing plate is fixedly connected to the top of the guide rod. One end of the return spring is fixedly connected to the inside of the robot body, and the other end of the return spring is fixedly connected to one end of the guide rod.

[0008] Furthermore, the obstacle avoidance assembly also includes a transmission rod and a displacement sensor. The transmission rod is slidably connected inside the robot body, and a front sensing plate is fixedly connected to the top of the transmission rod. The displacement sensor is fixedly installed at the end of the transmission rod.

[0009] Furthermore, the anti-shaking component includes a drive rack and a drive gear, wherein the drive rack is fixedly installed in the middle of the transmission rod; the drive gear is rotatably connected inside the robot body, and the drive gear and the drive rack mesh with each other.

[0010] Furthermore, the anti-shaking component also includes: a first rotating shaft and a first bevel gear, the first rotating shaft being rotatably connected inside the robot body, and drive gears being coaxially fixedly connected to both ends of the first rotating shaft; the first bevel gear being coaxially fixedly connected to the middle of the first rotating shaft.

[0011] Furthermore, the anti-shaking component also includes: a second rotating shaft, a second bevel gear, and a rubber strip scraper. The second rotating shaft is rotatably connected inside the robot body; the second bevel gear is fixedly installed at the end of the second rotating shaft, and the second bevel gear and the first bevel gear mesh with each other; the rubber strip scraper is fixedly installed at the top of the second rotating shaft.

[0012] Compared with the prior art, the present invention has the following beneficial effects: First, this utility model has an obstacle avoidance component. Through the cooperation of the front sensing plate, guide rod, and reset spring, it not only provides physical protection for the electronic sensor to prevent it from being directly damaged by collision, but also buffers the impact force through the reset spring in the event of a collision. At the same time, it triggers the displacement sensor with the help of the transmission rod to quickly generate obstacle avoidance commands. With the lateral compensation of the side sensing plate, it effectively makes up for the obstacle avoidance blind spot when the electronic sensor fails, reducing the risk of collision.

[0013] Secondly, this utility model has an anti-obstruction component. The drive rack and drive gear are driven by the transmission rod, and the rubber scraper is driven to swing through the bevel gear transmission. The physical collision action is converted into the cleaning power of the sensor. It can automatically remove grass clippings and grass juice from the surface of the electronic sensor without the need for additional drive components, avoid the sensing distortion caused by residues, and ensure the sensitivity of the electronic sensor during long-term operation.

[0014] This invention has the advantages of reducing obstruction, being easy to use and maintain. It effectively avoids obstacle avoidance failure after the electronic sensor is obstructed, avoids obstacles through physical collision, and maintains the electronic sensor while triggering the front sensing plate, thus extending the working time of the electronic sensor. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the main structure of this utility model.

[0016] Figure 2 This is a schematic diagram of the electronic sensor structure of this utility model.

[0017] Figure 3 This is a schematic diagram of the front sensor plate structure of this utility model.

[0018] Figure 4 This is a schematic diagram of the guide rod structure of this utility model.

[0019] Figure 5 This is a schematic diagram of the adhesive strip scraper structure of this utility model.

[0020] In the diagram, the correspondence between component names and drawing numbers is as follows: 1. Robot body; 101. First rotating shaft; 102. Drive gear; 103. First bevel gear; 2. Signal antenna; 3. Cutting mechanism; 4. Side sensing plate; 5. Electronic sensor; 501. Second rotating shaft; 502. Second bevel gear; 503. Rubber strip scraper; 6. Front sensing plate; 601. Through hole; 602. Guide rod; 603. Return spring; 604. Transmission rod; 605. Drive rack; 606. Displacement sensor. Detailed Implementation

[0021] The embodiments of this utility model will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and should not be construed as limiting the scope of this utility model.

[0022] Example 1: As attached Figure 1 To be continued Figure 5 As shown: This utility model provides an automatic physical obstacle avoidance lawn mowing robot, including a robot body 1, a signal antenna 2, a cutting mechanism 3, a side sensor plate 4, an electronic sensor 5, a front sensor plate 6, and an obstacle avoidance component. The signal antenna 2 is fixedly installed on the top of the robot body 1; the cutting mechanism 3 is installed on the bottom of the robot body 1; the side sensor plate 4 is slidably connected to the left and right sides of the robot body 1; the electronic sensor 5 is fixedly installed on the front of the robot body 1; the front sensor plate 6 is located on the front of the robot body 1; and the obstacle avoidance component is located on the outside of the robot body 1.

[0023] The obstacle avoidance component includes: a through hole 601, a guide rod 602, and a return spring 603. The through hole 601 is located in the middle of the front sensor plate 6, and its size is slightly larger than that of the electronic sensor 5. The guide rod 602 is slidably connected to the front of the robot body 1, and the front sensor plate 6 is fixedly connected to the top of the guide rod 602. One end of the return spring 603 is fixedly connected to the inside of the robot body 1, and the other end of the return spring 603 is fixedly connected to one end of the guide rod 602.

[0024] The obstacle avoidance assembly also includes a transmission rod 604 and a displacement sensor 606. The transmission rod 604 is slidably connected inside the robot body 1, and a front sensing plate 6 is fixedly connected to the top of the transmission rod 604. The displacement sensor 606 is fixedly installed at the end of the transmission rod 604.

[0025] The specific usage and function of this embodiment are as follows: During lawn mowing, the electronic sensor 5 can detect obstacles in front of it through the through hole 601 in the middle of the front sensor plate 6. Since the diameter of the through hole 601 is larger than the diameter of the electronic sensor 5, it is easy to widen the sensing angle of the electronic sensor 5.

[0026] Under the elastic support of the return spring 603, the front sensor plate 6 is held at a fixed distance from the front end of the electronic sensor 5 by the guide rod 602, forming a physical protective barrier for the electronic sensor 5. When an obstacle not recognized by the electronic sensor 5 appears in front and collides with the front sensor plate 6, the front sensor plate 6 will be squeezed and will drive the guide rod 602 to slide along the inside of the robot body 1, stretching the return spring 603 to buffer the impact force of the collision, preventing the obstacle from directly hitting the robot body 1 or the electronic sensor 5. At the same time, the front sensor plate 6 will synchronously drive the transmission rod 604 to move, triggering the displacement sensor 606 to generate a signal, providing the robot body 1 with a physical collision trigger command, driving the robot body 1 to adjust its direction of travel in time. Meanwhile, the side sensor plate 4 provides supplementary protection for lateral obstacle avoidance. If the robot collides directly with an obstacle laterally, the side sensor plate 4 will be squeezed and displaced. The sensors pre-installed inside can capture this displacement signal in real time and transmit the signal to the control module inside the robot body 1, driving the robot body 1 to respond quickly to obstacle avoidance.

[0027] Example 2: Based on Example 1, such as Figures 1 to 5 As shown, it also includes: an anti-shading component, which is installed inside the robot body 1.

[0028] The anti-shaking component includes a drive rack 605 and a drive gear 102. The drive rack 605 is fixedly installed in the middle of the transmission rod 604. The drive gear 102 is rotatably connected inside the robot body 1, and the drive gear 102 and the drive rack 605 mesh with each other.

[0029] The anti-shading component also includes: a first rotating shaft 101 and a first bevel gear 103. The first rotating shaft 101 is rotatably connected inside the robot body 1, and drive gears 102 are coaxially fixedly connected to both ends of the first rotating shaft 101; the first bevel gear 103 is coaxially fixedly connected to the middle part of the first rotating shaft 101.

[0030] The anti-shading component also includes: a second rotating shaft 501, a second bevel gear 502, and a rubber strip scraper 503. The second rotating shaft 501 is rotatably connected inside the robot body 1. The second bevel gear 502 is fixedly installed at the end of the second rotating shaft 501, and the second bevel gear 502 and the first bevel gear 103 mesh with each other. The rubber strip scraper 503 is fixedly installed at the top of the second rotating shaft 501.

[0031] The specific usage and function of this embodiment are as follows: When the front sensor plate 6 is squeezed by an obstacle, causing the transmission rod 604 to move, the movement of the transmission rod 604 also causes the drive rack 605 to move. The movement of the drive rack 605 causes the drive gear 102 to rotate. The rotation of the drive gear 102 causes the first rotating shaft 101 to rotate. The first rotating shaft 101 causes the first bevel gear 103 to rotate. The first bevel gear 103 causes the second bevel gear 502 to rotate. The second bevel gear 502 causes the second rotating shaft 501 to rotate, thereby causing the rubber strip scraper 503 to swing and scrape, promptly removing the attached grass clippings, grass juice and other residues.

[0032] The following points should be noted in this article: 1. The accompanying drawings of this embodiment only involve the structures involved in this embodiment; other structures can refer to the general design.

[0033] 2. Where there is no conflict, this embodiment and the features in the embodiment can be combined with each other to obtain new embodiments.

[0034] The above are merely specific implementations of this embodiment, but the protection scope of this embodiment is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this embodiment should be included within the protection scope of this embodiment. Therefore, the protection scope of this embodiment should be determined by the protection scope of the claims.

Claims

1. An automated physical obstacle avoidance lawnmower robot, characterized in that: The automatic physical obstacle avoidance lawn mowing robot includes a robot body (1), a signal antenna (2), a cutting mechanism (3), a side sensor plate (4), an electronic sensor (5), a front sensor plate (6), an obstacle avoidance component, and an anti-shading component. The signal antenna (2) is fixedly installed on the top of the robot body (1); the cutting mechanism (3) is installed on the bottom of the robot body (1); the side sensor plate (4) is slidably connected to the left and right sides of the robot body (1); the electronic sensor (5) is fixedly installed on the front of the robot body (1); the front sensor plate (6) is located on the front of the robot body (1); the obstacle avoidance component is located on the outside of the robot body (1); and the anti-shading component is located inside the robot body (1).

2. The automatic physical obstacle avoidance lawnmower robot as described in claim 1, characterized in that: The obstacle avoidance assembly includes: a through hole (601), a guide rod (602), and a reset spring (603). The through hole (601) is located in the middle of the front sensor plate (6), and the size of the through hole (601) is slightly larger than that of the electronic sensor (5). The guide rod (602) is slidably connected to the front of the robot body (1), and the front sensor plate (6) is fixedly connected to the top of the guide rod (602). One end of the reset spring (603) is fixedly connected to the inside of the robot body (1), and the other end of the reset spring (603) is fixedly connected to one end of the guide rod (602).

3. The automatic physical obstacle avoidance lawnmower robot as described in claim 2, characterized in that: The obstacle avoidance assembly also includes a transmission rod (604) and a displacement sensor (606). The transmission rod (604) is slidably connected inside the robot body (1), and a front sensing plate (6) is fixedly connected to the top of the transmission rod (604). The displacement sensor (606) is fixedly installed at the end of the transmission rod (604).

4. The automatic physical obstacle avoidance lawnmower robot as described in claim 1, characterized in that: The anti-shaking component includes a drive rack (605) and a drive gear (102). The drive rack (605) is fixedly installed in the middle of the transmission rod (604). The drive gear (102) is rotatably connected inside the robot body (1). The drive gear (102) and the drive rack (605) mesh with each other.

5. The automatic physical obstacle avoidance lawnmower robot as described in claim 4, characterized in that: The anti-shading component also includes: a first rotating shaft (101) and a first bevel gear (103). The first rotating shaft (101) is rotatably connected inside the robot body (1). Drive gears (102) are coaxially fixedly connected to both ends of the first rotating shaft (101). The first bevel gear (103) is coaxially fixedly connected to the middle of the first rotating shaft (101).

6. The automatic physical obstacle avoidance lawnmower robot as described in claim 4, characterized in that: The anti-shading assembly also includes: a second rotating shaft (501), a second bevel gear (502), and a rubber strip scraper (503). The second rotating shaft (501) is rotatably connected inside the robot body (1). The second bevel gear (502) is fixedly installed at the end of the second rotating shaft (501), and the second bevel gear (502) and the first bevel gear (103) mesh with each other. The rubber strip scraper (503) is fixedly installed at the top of the second rotating shaft (501).

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