Intelligent mower

Abstract

An intelligent mower, comprising a support (1) and an integrated sensing device (2). The integrated sensing device (2) is arranged on the support (1) and comprises at least two of a navigation unit used for navigation of the intelligent mower, an obstacle avoidance unit used for obstacle avoidance of the intelligent mower, and a weather monitoring unit used for weather monitoring of the intelligent mower; or the integrated sensing device (2) comprises integrated sensing units, and the integrated sensing units are used for at least two of navigation, obstacle avoidance and weather monitoring of the intelligent mower. According to the mower, a hardware structure is simplified, the problem in the prior art that a control system is complex due to use of a plurality of external sensors is solved, costs are reduced, and the experience of a product is improved.

Description

Smart lawn mower

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the priority of the patent application with application number 202322364315.1 filed on August 31, 2023, with the title of “Smart Lawn Mower”, the priority of the patent application with application number 202323570541.1 filed on December 26, 2023, with the title of “Smart Lawn Mower”, and the priority of the patent application with application number 202323570541.1 filed on December 26, 2023, with the title of “Smart Lawn Mower”. 72.7. The priority of the patent application with the invention name “Smart Lawn Mower” is the priority of the patent application with application number 202323570638.2, filed with the State Intellectual Property Office of China on December 26, 2023, and with the invention name “Smart Lawn Mower” is the priority of the patent application with application number 202323572525.6, filed with the State Intellectual Property Office of China on December 26, 2023, and with the invention name “Smart Lawn Mower” is the priority of the patent application, all of which are incorporated by reference into this application. Technical Field

[0003] The present application belongs to the technical field of power tools, and specifically relates to an intelligent lawn mower. Background Art

[0004] Mowing, a fundamental task in lawn maintenance, requires the use of simple and efficient mowing machinery to ensure both quality and quantity. Lawn mowers are popular in the market for their ease of operation and high efficiency, allowing people to mow their lawns and maintain a neat and tidy appearance.

[0005] Early lawn mowers on the market were walk-behind mowers, which used manual traction to control the mower's direction and complete the mowing operation. However, these mowers lacked intelligence and required human intervention. With the development of intelligent technology, smart mowers began to emerge and began to replace walk-behind mowers. Smart mowers can automatically mow without human intervention, thus saving labor costs. Among them, sensors are an important component of smart mowers, which can detect and automatically mow the lawn.

[0006] In order to further improve the intelligence of lawn mowers, current lawn mowers mostly use multiple sensor devices for detection, including multiple sensors for navigation, obstacle avoidance, and weather detection. Multiple sensors will lead to complex structure and increased cost of smart lawn mowers.

[0007] Therefore, in view of the above technical problems, it is necessary to provide an intelligent lawn mower.

[0008] Application Contents

[0009] In view of this, the purpose of this application is to provide an intelligent lawn mower.

[0010] In order to achieve the above objectives, the technical solution provided in one embodiment of the present application is as follows:

[0011] A smart lawn mower includes a support member; an integrated sensing device disposed on the support member, the integrated sensing device including at least two of a navigation unit for navigating the smart lawn mower, an obstacle avoidance unit for avoiding obstacles, and a weather detection unit for detecting weather conditions; or the integrated sensing device includes an integrated sensing unit, the integrated sensing unit being used for at least two of navigation, obstacle avoidance, and weather detection for the smart lawn mower. This configuration not only simplifies the hardware structure but also overcomes the complexity of the control system caused by the use of multiple external sensors in the prior art, saving costs and improving the product experience.

[0012] In some embodiments, the integrated sensing device includes a navigation unit for the smart lawn mower to navigate and an obstacle avoidance unit for the smart lawn mower to avoid obstacles.

[0013] In some embodiments, the integrated sensing device includes a navigation unit for navigation of the smart lawn mower and a weather detection unit for weather detection of the smart lawn mower.

[0014] In some embodiments, the integrated sensing device includes an obstacle avoidance unit for the smart lawn mower to avoid obstacles and a weather detection unit for the smart lawn mower to detect weather.

[0015] In some embodiments, the integrated sensing device includes a navigation unit for navigation of the smart lawn mower, an obstacle avoidance unit for obstacle avoidance of the smart lawn mower, and a weather detection unit for weather detection of the smart lawn mower.

[0016] In some embodiments, the weather detection unit includes at least one of a rain detection subunit, a hail detection subunit, a snow detection subunit, a sandstorm detection subunit, and a fog detection subunit. Weather detection includes at least one of rain detection, hail detection, snow detection, sandstorm detection, and fog detection. The rain detection subunit is integrated into the integrated sensing device to detect whether it is raining; the hail detection subunit is integrated into the integrated sensing device to detect whether it is hail; the snow detection subunit is integrated into the integrated sensing device to detect whether it is snowing; the sandstorm detection subunit is integrated into the integrated sensing device to detect whether there is a sandstorm; and the fog detection subunit is integrated into the integrated sensing device to detect whether there is fog.

[0017] In some embodiments, the intelligent lawn mower further includes a mounting plate disposed on the support member, and the integrated sensor device is mounted on the mounting plate. The mounting plate provides a mounting location for the integrated sensor device, thereby improving the stability of the installation of the integrated sensor device.

[0018] In some embodiments, the mounting plate includes a sensor mounting portion, and the integrated sensor device is mounted on the sensor mounting portion. Along the direction of travel of the intelligent lawn mower, the rear end of the connection surface of the sensor mounting portion with the integrated sensor device is higher than the front end of the connection surface of the sensor mounting portion with the integrated sensor device, so that along the direction of travel of the intelligent lawn mower, the rear end of the integrated sensor device is higher than the front end of the integrated sensor device. This forms a sensor mounting portion that is tilted relative to the horizontal plane along the direction of travel of the intelligent lawn mower. Furthermore, when the laser radar is mounted on the sensor mounting portion, it is also tilted, facilitating environmental detection and real-time terrain detection and mapping, thereby avoiding obstacles and achieving precise operation.

[0019] In some embodiments, the angle between the connection surface between the sensor mounting portion and the integrated sensor device and the horizontal plane is 10-60 degrees. If the angle between the laser radar mounting portion and the horizontal plane is too small, the distance between the laser radar's detection range and the edge of the machine body is large, resulting in a larger blind spot. If the angle between the laser radar mounting portion and the horizontal plane is too large, the laser radar cannot detect the sides and rear of the lawn mower, which is not conducive to obstacle avoidance.

[0020] In some embodiments, the angle between the connection surface between the sensor device mounting portion and the integrated sensor device and the horizontal plane is 15-30 degrees. This facilitates controlling the distance between the detection area of ​​the laser emitting portion and the edge of the machine to be less than or equal to 0.2 meters. The present application adopts an angle between the mounting portion and the horizontal plane of 15-30 degrees, which effectively reduces the impact of the housing on the detection area of ​​the radar body. The detection range of the radar body is larger, and the blind spot at the edge of the fuselage is greatly reduced, thereby improving the detection efficiency of the smart lawn mower, which is conducive to improving the accuracy of the smart lawn mower's navigation and obstacle avoidance.

[0021] In some embodiments, the intelligent lawn mower further includes a first sensor device heat sink, which is connected to the mounting plate and disposed adjacent to the integrated sensor device. The first sensor device heat sink is configured to dissipate heat from the integrated sensor device. Heat generated by the integrated sensor device is transferred to the first sensor device heat sink via the mounting plate, and the first sensor device is configured to dissipate the heat from the integrated sensor device.

[0022] In some embodiments, the first sensor device heat sink includes a plurality of first heat sinks, which are spaced apart and form heat dissipation gaps between the spaced apart first heat sinks, thereby increasing the contact area with the air and improving the heat dissipation effect.

[0023] In some embodiments, the first sensor device heat sink and the mounting plate are integrally configured. This integrated configuration facilitates direct heat transfer, thereby improving thermal conductivity. It also facilitates production and processing, improving assembly efficiency. It also enhances the overall strength of the first sensor device heat sink and the mounting plate, improving durability.

[0024] In some embodiments, the mounting plate is a heat conducting plate, and the intelligent lawn mower further includes a sensor device heat conducting member disposed between the integrated sensor device and the mounting plate. The sensor device heat conducting member is configured to conduct heat from the integrated sensor device to the mounting plate, and then from the mounting plate to the first sensor device heat sink. The sensor device heat conducting member abuts the integrated sensor device and the mounting plate, respectively, thereby conducting heat generated by the integrated sensor device to the mounting plate, and heat from the mounting plate to the first heat sink, where it is dissipated through the first plurality of heat sink fins.

[0025] In some embodiments, the smart lawn mower further includes a sensor device shock absorber, which is disposed between the integrated sensor device and the mounting plate and is used to dampen vibrations of the integrated sensor device. The smart lawn mower of the present application enables vibrations generated by the integrated sensor device during operation to be directly transmitted to the sensor device shock absorber. The sensor device shock absorber is used to dampen vibrations of the integrated sensor device. Therefore, vibrations generated during operation of the integrated sensor device are transmitted to the sensor device shock absorber, thereby achieving a vibration reduction effect. The sensor device shock absorber is connected to the support member, thereby achieving the installation and fixation of the sensor device shock absorber.

[0026] In some embodiments, the sensor device shock absorber is provided with a mounting hole that matches the sensor device heat conductor. The mounting hole extends through the sensor device shock absorber, and at least a portion of the sensor device heat conductor is disposed within the mounting hole. By placing the sensor device heat conductor in the mounting hole of the shock absorber body, heat is transferred from the integrated sensor device to the mounting plate. The mounting plate then transfers the heat to the first heat sink for heat dissipation, thereby cooling the integrated sensor device.

[0027] In some embodiments, the smart lawn mower further includes a cover plate, which is mounted on the support member. A sensor device accommodation space is formed between the cover plate and the support member, and the integrated sensor device is at least partially accommodated in the sensor device accommodation space. The cover plate is provided with a through-hole, through which at least a portion of the integrated sensor device is exposed. A portion of the integrated sensor device is accommodated in the sensor device accommodation space, and another portion extends from the through-hole. The extended portion emits laser light toward the environment to achieve environmental sensing detection.

[0028] In some embodiments, at least one second heat dissipation vent is provided between the cover plate and the support member. The second heat dissipation vent connects the sensor device housing space with the external space to dissipate heat from the integrated sensor device. Airflow can flow into the second heat dissipation vent formed between the cover plate and the support member to improve heat dissipation efficiency.

[0029] In some embodiments, the smart lawn mower further includes an annular sleeve, which is fixedly connected to the cover plate at the through opening, and the annular sleeve is provided with a sensor device extension opening matching the integrated sensor device, and the integrated sensor device at least partially extends outward from the sensor device extension opening.

[0030] In some embodiments, the annular sleeve is provided with at least one first heat dissipation opening, which can connect the sensor device accommodation space with the external space to discharge heat from the integrated sensor device. The first heat dissipation opening is used to discharge hot air and thereby achieve a heat dissipation effect.

[0031] In some embodiments, the first heat dissipation opening is a notch structure, and the notch structure is used to achieve gas circulation.

[0032] In some embodiments, the first heat dissipation opening is a heat dissipation hole, and the heat dissipation hole is used to achieve gas circulation.

[0033] In some embodiments, the annular sleeve is provided with a sensor device extension port that matches the integrated sensor device, and the integrated sensor device at least partially extends outward from the sensor device extension port. The annular sleeve not only dissipates heat for the integrated sensor device but also serves as a protection and decoration.

[0034] In some embodiments, the integrated sensing device is a laser radar, which includes a radar body. The horizontal distance between the laser emitting portion of the radar body and the front end of the intelligent lawn mower along the direction of travel is greater than or equal to 30 mm. The closer the laser emitting portion of the radar body is to the front end of the housing, the larger the blind spot of the machine. Therefore, it is necessary to control the horizontal distance between the laser emitting portion and the front end of the housing to be greater than 30 mm to help reduce the blind spot.

[0035] In some embodiments, the horizontal distance between the laser emitting portion of the radar body and the front end of the intelligent lawn mower along the direction of travel is 40mm-180mm. When the horizontal distance between the laser emitting portion and the front end of the housing is set within the range of 40mm-180mm, the distance between the detection area of ​​the laser emitting portion and the edge of the machine can be easily controlled to be less than or equal to 0.2m. When the horizontal distance between the laser emitting portion and the front end of the housing is set within the range of 40mm-180mm, the impact of the housing on the detection area of ​​the radar body is effectively reduced, the detection range of the radar body is expanded, and the blind spot at the edge of the fuselage is greatly reduced, thereby improving the detection efficiency of the intelligent lawn mower and facilitating the improvement of the navigation and obstacle avoidance accuracy of the intelligent lawn mower.

[0036] In some embodiments, the laser radar further includes a second sensor device heat sink disposed around the radar body and configured to dissipate heat from the radar body. The second heat sink utilizes air cooling to cool the integrated sensor device. The second heat sink may be a fan that provides a cooling air source for the integrated sensor device.

[0037] In some embodiments, the second sensor device heat sink includes a plurality of second heat sinks, which are arranged at intervals. The design of the second heat sinks can dissipate heat from the integrated sensor device.

[0038] In some embodiments, the intelligent lawn mower further comprises a light-transmitting cover, which is arranged outside the integrated sensing device. By covering the integrated sensing device inside the light-transmitting cover, the integrated sensing device is protected.

[0039] In some embodiments, the support member is a housing of the smart lawn mower. The laser radar is mounted on the housing, which helps to improve the stability of the laser radar installation.

[0040] In some embodiments, along the width direction of the casing, the casing has a first end side and a second end side relatively arranged, and the distance between the front end of the first end side and the front end of the second end side is less than or equal to 600 mm, which can prevent the laser radar installed on the mounting plate from being unable to detect the environment and terrain on both sides of the fuselage.

[0041] In some embodiments, the integrated sensing device is positioned at an angle to the horizontal plane in the front region of the top of the housing. This tilting of the integrated sensing device relative to the horizontal plane on the housing minimizes the front blind spot of the intelligent lawn mower. It should be noted that positioning the integrated sensing device at the front region of the top of the housing enables environmental monitoring of the area in the direction of travel of the intelligent lawn mower.

[0042] In some embodiments, only one integrated sensor device is provided, located at the front end of the intelligent lawn mower along its travel direction. This configuration simplifies the hardware structure and overcomes the control system complexity inherent in prior art systems that utilize multiple external sensors. The present application utilizes only one integrated sensor device, saving costs and enhancing the product experience.

[0043] In some embodiments, the smart lawn mower does not include other sensors for navigation, obstacle avoidance, or weather detection. This application only requires the provision of an integrated sensor device to implement navigation, obstacle avoidance, and weather detection functions, which is conducive to improving integration and thus improving the performance of the smart lawn mower.

[0044] In some embodiments, the center of the integrated sensing device is located on the center line of the intelligent lawn mower in the width direction, so that the integrated sensing device is arranged on the center line of the casing along the width direction, which is conducive to accurately detecting the left and right ends of the front of the machine, and at the same time facilitates obstacle avoidance in the lawn mower.

[0045] In some embodiments, the integrated sensing device is a laser radar having a horizontal field of view greater than or equal to 180° and a vertical field of view greater than or equal to 30°. The larger the vertical field of view, the greater the laser radar's detectable range, the smaller the distance between the laser radar's detectable area and the edge of the machine, and the smaller the blind spot. When a laser radar with a vertical field of view greater than or equal to 30° is used, and its installation position on the lawn mower is determined by the aforementioned parameters, the detection range can be increased while reducing the distance between the laser radar's detection range and the edge of the machine, thereby achieving the technical effect of reducing the blind spot.

[0046] In some embodiments, the integrated sensing device is a laser radar, and the laser radar has a horizontal field of view of 360° and a vertical field of view greater than or equal to 30°. By setting the horizontal field of view to 360°, all-around horizontal angle detection is achieved, which helps to expand the detection range.

[0047] In some embodiments, the number of integrated sensing devices is set to two. By providing two integrated sensing devices with navigation, obstacle avoidance and weather detection functions, the effect of increasing the detection range and detection accuracy is achieved.

[0048] In some embodiments, at least one of the two integrated sensor devices is disposed at a front end region of the intelligent lawn mower along a travel direction. Disposing at least one integrated sensor device at the front end region facilitates the intelligent lawn mower to detect the travel direction.

[0049] In some embodiments, the integrated sensing device is a laser radar having a horizontal field of view angle greater than or equal to 80° and a vertical field of view angle greater than or equal to 30°. The larger the vertical field of view angle, the greater the laser radar's detectable range, the smaller the distance between the laser radar's detectable area and the edge of the machine, and the smaller the blind spot. When a laser radar with a vertical field of view angle greater than or equal to 30° is used, and its installation position on the lawn mower is determined by the aforementioned parameters, the detection range can be increased while reducing the distance between the laser radar's detection range and the edge of the machine, thereby achieving the technical effect of reducing the blind spot.

[0050] In some embodiments, the integrated sensing device is a laser radar, and the laser radar has a horizontal field of view angle greater than or equal to 110° and a vertical field of view angle greater than or equal to 30°. By setting the horizontal field of view angle greater than or equal to 110°, the range of the horizontal field of view angle can be increased.

[0051] In some embodiments, the horizontal field of view angles of the two laser radars are greater than that of a single laser radar, so as to increase the detection range by using the two laser radars and thus improve the detection accuracy of the smart lawn mower.

[0052] In some embodiments, the number of integrated sensing devices is three. By providing three integrated sensing devices with navigation, obstacle avoidance, and weather detection functions, the effect of increasing the detection range and detection accuracy is achieved.

[0053] In some embodiments, at least one of the three integrated sensor devices is disposed at a front end region of the intelligent lawn mower along a travel direction. Disposing at least one integrated sensor device at the front end region facilitates the intelligent lawn mower to detect the travel direction.

[0054] In some embodiments, the integrated sensing device is a laser radar having a horizontal field of view angle greater than or equal to 80° and a vertical field of view angle greater than or equal to 30°. The larger the vertical field of view angle, the greater the laser radar's detectable range, the smaller the distance between the laser radar's detectable area and the edge of the machine, and the smaller the blind spot. When a laser radar with a vertical field of view angle greater than or equal to 30° is used, and its installation position on the lawn mower is determined by the aforementioned parameters, the detection range can be increased while reducing the distance between the laser radar's detection range and the edge of the machine, thereby achieving the technical effect of reducing the blind spot.

[0055] In some embodiments, the integrated sensing device is a laser radar, and the laser radar has a horizontal field of view angle greater than or equal to 110° and a vertical field of view angle greater than or equal to 30°. By setting the horizontal field of view angle greater than or equal to 110°, the range of the horizontal field of view angle can be increased.

[0056] In some embodiments, the horizontal field of view of the three laser radars is greater than that of a single laser radar, so as to increase the detection range by using the three laser radars and thus improve the detection accuracy of the smart lawn mower.

[0057] A smart lawn mower includes a support member; a laser radar disposed on the support member; and a first heat sink connected to the laser radar, the first heat sink being used to dissipate heat from the laser radar. The smart lawn mower of the present application includes the first heat sink for cooling the laser radar, thereby dissipating heat from the laser radar and preventing heat generated during operation from affecting the detection accuracy of the laser radar.

[0058] In some embodiments, the smart lawn mower further includes a mounting plate disposed on the support member, the mounting plate being connected to the first heat sink, and the laser radar being mounted on the mounting plate. The mounting plate provides a higher mounting surface for the laser radar, thereby achieving a positioning and mounting effect for the laser radar.

[0059] In some embodiments, the first heat sink includes a first sensor device heat sink connected to a mounting plate. The mounting plate also functions as a heat conductor, transferring heat from the laser radar to the first sensor device heat sink, thereby dissipating heat from the laser radar through the first sensor device heat sink. Heat generated by the laser radar is transferred to the first sensor device heat sink via the mounting plate, and the first sensor device is used to dissipate heat from the laser radar.

[0060] In some embodiments, the first sensor device heat sink and the mounting plate are integrally configured. This integrated configuration facilitates direct heat transfer, thereby improving thermal conductivity. It also facilitates production and processing, improving assembly efficiency. It also enhances the overall strength of the first sensor device heat sink and the mounting plate, improving durability.

[0061] In some embodiments, the first sensor device heat sink includes a plurality of first heat sinks, which are spaced apart and form heat dissipation gaps between the spaced apart first heat sinks, thereby increasing the contact area with the air and improving the heat dissipation effect.

[0062] In some embodiments, the first heat sink includes a third sensor heat sink mounted on the mounting plate. The third sensor heat sink is connected to the laser radar and is used to dissipate heat from the laser radar. The third sensor heat sink is connected to the laser radar and the sensor mounting portion, thereby transferring heat generated by the laser radar to the sensor mounting portion. The third sensor heat sink also conducts and dissipates heat, thereby cooling the laser radar.

[0063] In some embodiments, the third sensor device heat sink includes at least one of a graphene heat sink and a heat dissipation copper tube, so as to improve heat dissipation efficiency through the thermal conductivity of the graphene heat sink and the heat dissipation copper tube.

[0064] In some embodiments, the intelligent lawn mower further includes a sensor device heat conductor, which is connected to the laser radar and the first heat sink, respectively. The sensor device heat conductor is configured to transfer heat from the laser radar to the first heat sink. The sensor device heat conductor abuts the laser radar and the mounting plate, respectively, thereby transferring heat generated by the laser radar to the mounting plate, and heat from the mounting plate to the first heat sink, where it is dissipated through the first heat sink's plurality of first heat sink fins.

[0065] In some embodiments, the smart lawn mower further includes a cover plate, which is disposed on the support member. A sensor housing space is formed between the cover plate and the support member, and the laser radar is at least partially housed within the sensor housing space. The cover plate has a through-hole, and the laser radar at least partially extends outward from the through-hole. The laser radar is partially housed within the sensor housing space, while another portion extends from the through-hole. The extended portion emits laser light toward the environment to achieve environmental sensing detection.

[0066] In some embodiments, the smart lawn mower further includes an annular sleeve connected to the cover plate at the through-hole. The annular sleeve is provided with a sensor device extension port compatible with the laser radar, with the laser radar at least partially extending outward from the sensor device extension port. The annular sleeve not only dissipates heat for the laser radar but also serves as a protective and decorative feature.

[0067] In some embodiments, the smart lawn mower further includes an annular sleeve, on which is provided a sensor device extension port that matches the laser radar, and the laser radar at least partially extends outward from the sensor device extension port.

[0068] In some embodiments, the first heat dissipation device is at least partially accommodated in the sensor device accommodation space.

[0069] In some embodiments, the annular sleeve is provided with at least one first heat dissipation vent, which connects the sensor housing space with the external space to dissipate heat from the lidar. The first heat dissipation vent is used to dissipate heat, thereby achieving a heat dissipation effect. The motion of the lawn mower generates ambient air flow, and the provision of the first heat dissipation vent can accelerate heat dissipation during motion.

[0070] In some embodiments, the first heat dissipation outlet is at least one of a notch structure and a heat dissipation hole. This facilitates adjusting the structure of the first heat dissipation outlet according to the overall layout of the smart lawn mower to maximize heat dissipation efficiency.

[0071] In some embodiments, the first heat sink is at least partially housed within the sensor housing space, and at least one second heat dissipation vent is defined between the cover plate and the support member. The second heat dissipation vent connects the sensor housing space with the outside world to dissipate heat from the lidar. Airflow can flow into the second heat dissipation vent defined between the cover plate and the support member to improve heat dissipation efficiency.

[0072] In some embodiments, the first heat dissipation device is at least partially housed within the sensor housing space, and the support member is provided with at least one third heat dissipation vent, which can connect the sensor housing space with the external space to dissipate heat from the laser radar. The third heat dissipation vent is connected to the sensor housing space, thereby enabling the third heat dissipation vent to assist in dissipating heat from the laser radar.

[0073] In some embodiments, the first heat dissipation device at least partially extends from the third heat dissipation opening to the external space, and the third heat dissipation opening provides a sheltered position for the installation of the first heat dissipation device.

[0074] In some embodiments, the smart lawn mower further includes an annular sleeve, on which is provided a sensor device extension port that matches the laser radar, and the laser radar at least partially extends outward from the sensor device extension port.

[0075] In some embodiments, the annular sleeve is provided with at least one first heat dissipation opening, which can connect the sensor device accommodation space with the external space to discharge heat from the integrated sensor device. The first heat dissipation opening is used to discharge hot air and thereby achieve a heat dissipation effect.

[0076] In some embodiments, the first heat dissipation opening is at least one of a notch structure and a heat dissipation hole, so as to achieve gas circulation.

[0077] In some embodiments, the first heat sink includes a third sensor device heat sink, which is connected to the laser radar and is used to dissipate heat from the laser radar. The third sensor device heat sink is connected to the laser radar to transfer heat generated by the laser radar to the third sensor device heat sink. The third sensor device heat sink has the functions of heat conduction and heat dissipation, thereby cooling the laser radar.

[0078] In some embodiments, the smart lawn mower further includes a cover plate, which is disposed on the support member. A sensor housing space is formed between the cover plate and the support member, and the laser radar is at least partially housed within the sensor housing space. The cover plate has a through-hole, and the laser radar at least partially extends outward from the through-hole. The laser radar is partially housed within the sensor housing space, while another portion extends from the through-hole. The extended portion emits laser light toward the environment to achieve environmental sensing detection.

[0079] In some embodiments, the smart lawn mower further includes an annular sleeve connected to the cover plate at the through-hole. The annular sleeve is provided with a sensor device extension port compatible with the laser radar, with the laser radar at least partially extending outward from the sensor device extension port. The annular sleeve not only dissipates heat for the laser radar but also serves as a protective and decorative feature.

[0080] In some embodiments, the annular sleeve is provided with at least one first heat dissipation vent, which connects the sensor housing space with the external space to dissipate heat from the lidar. The first heat dissipation vent is used to dissipate heat, thereby achieving a heat dissipation effect. The motion of the lawn mower generates ambient air flow, and the provision of the first heat dissipation vent can accelerate heat dissipation during motion.

[0081] In some embodiments, the first heat dissipation outlet is at least one of a notch structure and a heat dissipation hole. This facilitates adjusting the structure of the first heat dissipation outlet according to the overall layout of the smart lawn mower to maximize heat dissipation efficiency.

[0082] In some embodiments, the third sensor device heat sink is at least partially accommodated in the sensor device accommodating space.

[0083] In some embodiments, the smart lawn mower further includes a second heat sink disposed adjacent to the laser radar. The second heat sink is configured to actively dissipate heat toward the adjacent laser radar, thereby improving the heat dissipation efficiency of the laser radar.

[0084] In some embodiments, the second heat sink is used to cool the laser radar by air cooling. The second heat sink uses air cooling to cool the laser radar. The second heat sink can be a fan that provides a cooling air source for the laser radar.

[0085] In some embodiments, the laser radar includes a radar body and a second sensor device heat sink, the radar body and the second sensor device heat sink being fixedly connected, and the second sensor device heat sink being used to dissipate heat from the radar body. The second sensor device heat sink is disposed on a peripheral side of the laser radar, is directly connected to the radar body, and is used to dissipate heat from the laser radar.

[0086] In some embodiments, the heat sink of the second sensor device includes a plurality of second heat sinks, which are arranged at intervals. The design of the second heat sinks can dissipate the heat generated by the laser radar.

[0087] In some embodiments, the support member is a housing of the smart lawn mower. The laser radar is mounted on the housing, which helps to improve the stability of the laser radar installation.

[0088] In some embodiments, the laser radar integrates at least two of the smart lawn mower's navigation, obstacle avoidance, and weather detection functions. The smart lawn mower of the present application has at least two of these functions. This multi-functional smart lawn mower significantly improves automation, which in actual use helps improve work efficiency, reduce manual intervention, and enhance user experience.

[0089] In some embodiments, the LiDAR integrates navigation and obstacle avoidance functions into the smart lawn mower. The LiDAR with navigation functions facilitates path planning and guidance of the smart lawn mower during operation, controlling its direction through navigation and improving its efficiency. The LiDAR with obstacle avoidance functions also helps prevent collisions between the smart lawn mower and obstacles, enhancing the safety of the smart lawn mower.

[0090] In some embodiments, only one laser radar is provided for the navigation and obstacle avoidance functions of the smart lawn mower. The smart lawn mower of this application is provided with only one laser radar on its housing. By providing navigation and obstacle avoidance functions with a single laser radar, the hardware structure is simplified. This also overcomes the problem of complex control systems caused by the use of multiple external sensors in the prior art. The use of only one laser radar in this application saves costs and improves the product experience.

[0091] In some embodiments, the lidar also integrates weather detection capabilities. Lidar can be used for weather detection; that is, the lidar is used for navigation, obstacle avoidance, and weather detection in the smart lawn mower. The smart lawn mower not only enables navigation and obstacle avoidance, but also includes weather detection capabilities to adaptively adjust its operating state based on weather conditions, thereby improving the safety and efficiency of the smart lawn mower.

[0092] In some embodiments, only one laser radar is provided to integrate the navigation, obstacle avoidance, and weather detection functions of the smart lawn mower. The smart lawn mower of this application has only one laser radar installed on its support. By providing a single laser radar to achieve navigation, obstacle avoidance, and weather detection functions, this simplifies the hardware structure and overcomes the problem of complex control systems caused by the use of multiple external sensors in the prior art. The use of only one laser radar in this application saves costs and improves the product experience.

[0093] In some embodiments, the center of the environmental detection sensor device is located on the center line of the housing in the width direction. Therefore, the laser radar is arranged on the center line of the housing in the width direction to accurately detect the left and right ends of the front of the machine and facilitate obstacle avoidance in the lawn mower.

[0094] In some embodiments, the environmental detection sensor device is positioned at an angle at the front end of the housing. The laser radar is positioned on the housing at an angle relative to the horizontal plane, thereby minimizing the blind spot at the front end of the smart lawn mower. It should be noted that positioning the laser radar at the front end of the housing enables environmental monitoring of the area in the direction of travel of the smart lawn mower.

[0095] In some embodiments, the mounting plate includes a sensor mounting portion, and the laser radar is mounted on the sensor mounting portion. Along the direction of travel of the smart lawn mower, the rear end of the sensor mounting portion is higher than the front end of the sensor mounting portion, so that along the direction of travel of the smart lawn mower, the rear end of the laser radar is higher than the front end of the laser radar. This forms a sensor mounting portion that is tilted relative to the horizontal plane along the direction of travel of the smart lawn mower. Furthermore, the laser radar is also tilted when mounted on the sensor mounting portion, facilitating environmental detection and real-time terrain detection and mapping, thereby avoiding obstacles and achieving precise operation.

[0096] In some embodiments, the angle between the connection surface between the sensor mounting portion and the laser radar and the horizontal plane is 10-60 degrees. If the angle between the laser radar mounting portion and the horizontal plane is too small, the distance between the laser radar's detection range and the edge of the machine body is large, resulting in a larger blind spot. If the angle between the laser radar mounting portion and the horizontal plane is too large, the laser radar cannot detect the sides and rear of the lawn mower, which is not conducive to obstacle avoidance.

[0097] In some embodiments, the angle between the connection surface between the sensor device mounting portion and the laser radar and the horizontal plane is 15-30°. When the angle between the laser radar mounting portion and the horizontal plane is 15-30°, it is convenient to control the distance between the detection area of ​​the radar body and the edge of the machine to be less than or equal to 0.2m. The present application adopts an angle between the mounting portion and the horizontal plane of 15-30°, which effectively reduces the impact of the casing on the detection area of ​​the radar body, and the detection range of the radar body is larger, greatly reducing the blind spot of the edge of the fuselage, thereby improving the detection efficiency of the smart lawn mower, which is conducive to improving the accuracy of navigation and obstacle avoidance of the smart lawn mower.

[0098] In some embodiments, the laser radar has a horizontal field of view of 360° and a vertical field of view greater than or equal to 30°. The larger the vertical field of view, the greater the laser radar's detectable range, the smaller the distance between the laser radar's detectable area and the edge of the machine, and the smaller the blind spot. When a laser radar with a vertical field of view greater than or equal to 30° is used and its installation position on the lawn mower is determined by the aforementioned parameters, the detection range can be increased while reducing the distance between the laser radar's detection range and the edge of the machine, thereby achieving the technical effect of reducing the blind spot.

[0099] In some embodiments, the laser radar includes a radar body, and the horizontal distance between the laser emitting portion of the radar body and the front end of the housing is greater than or equal to 30 mm. The closer the laser emitting portion of the radar body is to the front end of the housing, the larger the blind spot of the machine. Therefore, it is necessary to control the horizontal distance L between the laser emitting portion of the radar body and the front end of the housing to be greater than 30 mm to help reduce the blind spot.

[0100] In some embodiments, the horizontal distance between the laser emitting portion of the radar body and the front end of the housing is 40 mm to 180 mm. When the horizontal distance L between the radar body and the front end of the housing is set within the range of 40 mm to 180 mm, the distance between the radar body's detection area and the edge of the machine can be controlled to be less than or equal to 0.2 m. When the horizontal distance L between the radar body and the front end of the housing is set within the range of 40 mm to 180 mm, the impact of the housing on the radar body's detection area is effectively reduced, the radar body's detection range is expanded, and the blind spot at the edge of the machine is greatly reduced, thereby improving the detection efficiency of the smart lawn mower and facilitating the improvement of the smart mower's navigation and obstacle avoidance accuracy.

[0101] In some embodiments, along the width direction of the casing, the casing has a first end side and a second end side relatively arranged, and the distance between the front end of the first end side and the front end of the second end side is less than or equal to 600 mm, which can prevent the laser radar installed on the mounting plate from being unable to detect the environment and terrain on both sides of the fuselage.

[0102] In some embodiments, the angle between the first plane where the first sensor device heat sink is located and the second plane where the second sensor device heat sink is located is greater than 90° and less than or equal to 180°. The first and second planes are arranged at an obtuse angle to ensure a predetermined distance between the first and second sensor device heat sinks, thereby facilitating heat dissipation efficiency. Furthermore, the obtuse angle between the first and second planes creates a clearance space to facilitate the installation of the lidar.

[0103] A smart lawn mower includes a support member; a laser radar, at least partially disposed above the support member; and a sensor device shock absorber, connected to the laser radar and the support member, respectively, for damping vibrations of the laser radar. The smart lawn mower of the present application provides a sensor device shock absorber between the support member and the laser radar, thereby damping vibrations of the laser radar. This prevents poor detection accuracy due to vibrations during use of the laser radar, and also avoids vibrations and noises caused by the laser radar.

[0104] In some embodiments, the sensor device shock absorber is arranged between the laser radar and the support member, so that the vibration generated by the laser radar in the working state is directly transmitted to the sensor device shock absorber. The sensor device shock absorber is used to shock the laser radar, so the vibration generated during the operation of the laser radar will be transmitted to the sensor device shock absorber, thereby achieving the effect of shock reduction; the sensor device shock absorber is connected to the support member, thereby realizing the installation and fixation of the sensor device shock absorber.

[0105] In some embodiments, the sensor device shock absorber includes a shock absorbing pad or a shock absorbing column.

[0106] In some embodiments, the sensor device shock absorber includes a first shock absorbing body; a first connecting member disposed on the first shock absorbing body and connected to the laser radar through the first connecting member; and a second connecting member disposed on the first shock absorbing body and connected to the support member through the second connecting member. The first shock absorbing body is used for shock absorption, the first connecting member is used for connection to the laser radar, and the second connecting member is used for connection to the support member.

[0107] In some embodiments, the first connector is a nut, a screw, a light hole connector, or an adhesive; and / or the second connector is a nut, a screw, a light hole connector, or an adhesive. The provision of the nut, screw, light hole connector, or adhesive facilitates the connection between the first connector and the lidar and the second connector and the support.

[0108] In some embodiments, the first connector is a first insert embedded in the first damping body; the first connector and the first damping body are integrally formed. The first connector and the first damping body are integrally molded using a mold. The integrated first connector and the damping body enhance the connection strength between the first connector and the damping body, thereby improving the stability of the damping body installation of the sensor device. Furthermore, the integrated first connector and the damping body also enhance assembly efficiency.

[0109] In some embodiments, the second connector is a second insert embedded in the first damping body; the first connector, the second connector, and the first damping body are integrally formed. The second connector and the first damping body are integrally molded using a mold. This integrated second connector and first damping body improve the connection strength between the second connector and the damping body, thereby enhancing the stability of the sensor device damping body installation. Furthermore, this integrated second connector and first damping body also improve assembly efficiency.

[0110] In some embodiments, the first shock-absorbing body is a shock-absorbing pad, and the laser radar achieves shock absorption through the shock-absorbing pad.

[0111] In some embodiments, the thickness of the shock-absorbing pad is 5-7 mm. When the thickness of the shock-absorbing pad is less than 5 mm, the shock-absorbing effect is not obvious. When the thickness of the shock-absorbing pad is greater than 7 mm, the shock-absorbing pad has space limitations and is inconvenient to install and wastes materials.

[0112] In some embodiments, the shock-absorbing pad is a shaped shock-absorbing pad. Along the direction of travel of the smart lawn mower, the thickness of the rear end of the shaped shock-absorbing pad is greater than the thickness of the front end of the shaped shock-absorbing pad. This allows the rear end of the laser radar to be higher than the front end of the laser radar along the direction of travel of the smart lawn mower. The shaped shock-absorbing pad with varying thickness allows the rear end of the laser radar to be higher than the front end of the laser radar when installed, allowing the laser radar to maintain a preset installation position, thereby facilitating the laser radar's environmental detection, including navigation, obstacle avoidance, and weather detection.

[0113] In some embodiments, the first damping body has a contact surface for contacting the laser radar; at least two first inserts and second inserts are provided, and the first inserts and second inserts are alternately arranged in a direction parallel to the contact surface. The alternating arrangement of the first inserts and second inserts ensures that the force exerted on the damping body by the laser radar and the force exerted on the support member are alternately arranged, thereby achieving uniform force distribution on the damping body, thereby improving the installation strength of the damping body, and thereby ensuring the vibration reduction efficiency of the laser radar and the overall installation stability.

[0114] In some embodiments, the first shock-absorbing body is a shock-absorbing column. The shock-absorbing column can achieve multi-point shock absorption for the laser radar, thereby achieving a shock absorption effect on the laser radar, thereby preventing the laser radar from having poor detection accuracy due to vibration during use, and also preventing the laser radar from causing vibration and noise problems.

[0115] In some embodiments, the shock-absorbing column meets at least one of the following characteristics: the length of the shock-absorbing column is 6-10 mm; the cross-sectional area of ​​the shock-absorbing column is 25-80 mm 2 If the shock-absorbing column is less than 6mm in length, the shock absorption effect is poor; if the shock-absorbing column is longer than 10mm, the LiDAR installation stability may be poor. If the cross-sectional area of ​​the shock-absorbing column is too small, the shock absorption effect is poor; if the cross-sectional area of ​​the shock-absorbing column is too large, it takes up a lot of space and wastes materials.

[0116] In some embodiments, the first shock absorbing body is a silicone shock absorbing column or a rubber shock absorbing column, so as to ensure that the first shock absorbing body has a good shock absorbing effect.

[0117] In some embodiments, the first and second connectors are spaced apart along the axial direction of the shock-absorbing column, and are disposed at opposite ends of the axial direction of the shock-absorbing column. The first connector is connected to the laser radar, and the shock-absorbing column can achieve vibration reduction for the laser radar. The second connector is connected to the support member, thereby connecting the laser radar to the support member through the sensor device shock-absorbing member.

[0118] In some embodiments, at least two shock-absorbing columns are provided, and the at least two shock-absorbing columns are spaced apart. The provision of multiple shock-absorbing columns can achieve multi-point support for the laser radar, thereby avoiding concentrated stress and improving the stability of the laser radar.

[0119] In some embodiments, the rear end of the multiple shock-absorbing columns is longer than the front end along the direction of travel of the smart lawn mower, so that the rear end of the LiDAR is higher than the front end of the LiDAR along the direction of travel of the smart lawn mower. By adjusting the height of the different shock-absorbing columns, a preset installation angle can be provided for the LiDAR, improving installation convenience.

[0120] In some embodiments, the second connector is a connecting plate fixedly mounted on a peripheral side of the first damping body. The first and second connectors are integrally formed with the first damping body. The integrally formed first and second connectors and the first damping body increase overall mounting strength, thereby enhancing the vibration reduction effect of the LiDAR.

[0121] In some embodiments, the connecting plate is a plastic connecting plate or a metal connecting plate. The connecting plate is a structural member with strength to achieve a hard connection between the connecting plate and the supporting member.

[0122] In some embodiments, the second connecting member is an annular connecting plate, and the first shock absorbing body is arranged on the inner circumference of the annular connecting plate. The annular connecting plate provides an installation position for the first shock absorbing body and is used to connect with the support member.

[0123] In some embodiments, the sensor device shock absorber includes a second shock absorbing body; a third connecting member, the third connecting member and the second shock absorbing body are arranged on the same side of the laser radar, the third connecting member is fixedly connected to the laser radar, and the third connecting member and the laser radar are indirectly connected to the support member through the second shock absorbing body. The third connecting member is fixedly connected to the laser radar to form a connected whole, so that when the laser radar vibrates and displaces, the laser radar can drive the third connecting member to displace synchronously. By arranging the second shock absorbing body between the connected whole formed by the fixed connection between the third connecting member and the laser radar and the support member, the connection whole is limited, and the second shock absorbing body also has a shock filtering effect, so as to improve the stability and safety of the laser radar installation.

[0124] In some embodiments, the support member is provided with a mounting hole adapted for the second damping body. The second damping body is connected to the support member at the mounting hole, and the second damping body is at least partially disposed within the mounting hole. The third connecting member can pass through the mounting hole and be fixedly connected to the lidar. The mounting hole serves as the mounting location for the second damping body. The second damping body is mounted in the mounting hole, so that when the third connecting member vibrates and is displaced relative to the mounting hole, the second damping body can provide a buffer, thereby achieving the effect of reducing the amount of vibration.

[0125] In some embodiments, the first end of the second shock-absorbing body, which faces the laser radar, extends out of the mounting through-hole. The first end of the second shock-absorbing body includes a first shock-absorbing end, which is disposed between the support and the laser radar. When the laser radar moves toward the support, the first shock-absorbing end is used to prevent the laser radar from colliding with the support. The provision of the first shock-absorbing end also facilitates achieving a vibration-reducing effect on the laser radar.

[0126] In some embodiments, the second end of the second shock-absorbing body, which is located away from the laser radar, extends out of the mounting through-hole, and the second end of the second shock-absorbing body includes a second shock-absorbing end. A limiting end is provided at the end of the third connecting member away from the laser radar, and the second shock-absorbing end is disposed between the support member and the limiting end. The first shock-absorbing end abuts the laser radar, and the second shock-absorbing end abuts the limiting end of the third connecting member. By abutting the second shock-absorbing body between the laser radar and the limiting end, when the entire connection formed by the laser radar and the third connecting member vibrates, the second shock-absorbing body has the effect of filtering vibrations, thereby reducing the amplitude of vibrations.

[0127] In some embodiments, the second shock-absorbing body further includes a shock-absorbing body section disposed between the first shock-absorbing end and the second shock-absorbing end, at least a portion of the shock-absorbing body section extending through the mounting hole and abutting against the inner wall of the mounting hole, the first shock-absorbing end and the second shock-absorbing end being circumferential flanges disposed at both ends of the shock-absorbing body section, the circumferential flanges protruding in a direction away from the mounting hole. This embodiment employs a structure in which the first shock-absorbing end and the second shock-absorbing end are circumferential flanges at both ends of the shock-absorbing body section, so that the two circumferential flanges can abut against the support member to achieve the effect of limiting the position of the second shock-absorbing body and the support member; the two circumferential flanges can increase the contact area between the second shock-absorbing body and the end face of the support member facing toward and away from the laser radar, thereby improving the stability of the assembly; and the arrangement of the circumferential flanges can increase the contact area between the second shock-absorbing body and the laser radar, thereby facilitating an improved shock-absorbing effect.

[0128] In some embodiments, the second shock absorbing body is positionally connected to the support member through the first shock absorbing end and the second shock absorbing end, which is beneficial to improving the shock absorbing effect.

[0129] In some embodiments, a mounting chamfer is provided on the first shock absorbing end to facilitate the installation of the second shock absorbing body.

[0130] In some embodiments, the contact surface between the first shock absorbing end and the support member is a first connecting surface, the first connecting surface is circular, and the diameter of the first connecting surface is larger than the diameter of the mounting through hole; and / or, the contact surface between the second shock absorbing end and the support member is a second connecting surface, the second connecting surface is circular, and the diameter of the second connecting surface is larger than the diameter of the mounting through hole.

[0131] In some embodiments, the second shock-absorbing body is a shock-absorbing sleeve, and / or the third connecting member is a step fastener.

[0132] In some embodiments, the smart lawn mower further includes a mounting plate disposed on the support member, the sensor device shock absorber is at least partially disposed between the laser radar and the mounting plate, the sensor device shock absorber is indirectly connected to the support member through the mounting plate, the laser radar is connected to a side of the sensor device shock absorber away from the mounting plate, and the sensor device shock absorber and the laser radar are supported by the mounting plate to achieve positioning and installation of the sensor device shock absorber and the laser radar.

[0133] In some embodiments, the sensor device shock absorber is directly connected to the support member without the need for an intermediate structure, which helps to reduce the use of parts, simplify the installation steps and improve installation efficiency.

[0134] In some embodiments, the support member is a housing of the intelligent lawn mower, and the shock-absorbing member of the sensing device is fixedly connected to the housing, which is beneficial to the stability of the connection between the shock-absorbing member of the sensing device and the housing.

[0135] In some embodiments, the smart lawn mower further includes a sensor heat conductor and a first heat sink. The sensor heat conductor is connected to the laser radar and the first heat sink, respectively. The sensor heat conductor is configured to transfer heat from the laser radar to the first heat sink. The first heat sink is configured to dissipate heat from the laser radar, and the sensor heat conductor is configured to transfer heat from the laser radar to the mounting plate, and then from the mounting plate to the first heat sink.

[0136] In some embodiments, the first damping body is provided with a mounting hole that matches the sensor device's heat conductor. The mounting hole extends through the first damping body, and at least a portion of the sensor device's heat conductor is disposed within the mounting hole. By placing the sensor device's heat conductor in the mounting hole of the damping body, heat is transferred from the lidar to the mounting plate. The mounting plate then transfers the heat to the first heat sink, dissipating the heat and thereby cooling the lidar.

[0137] In some embodiments, the laser radar integrates at least two of the smart lawn mower's navigation, obstacle avoidance, and weather detection functions. The smart lawn mower of the present application has at least two of these functions. This multi-functional smart lawn mower significantly improves automation, which in actual use helps improve work efficiency, reduce manual intervention, and enhance user experience.

[0138] In some embodiments, the LiDAR integrates navigation and obstacle avoidance functions into the smart lawn mower. The LiDAR with navigation functions facilitates path planning and guidance of the smart lawn mower during operation, controlling its direction through navigation and improving its efficiency. The LiDAR with obstacle avoidance functions also helps prevent collisions between the smart lawn mower and obstacles, enhancing the safety of the smart lawn mower.

[0139] In some embodiments, only one laser radar is provided. The intelligent lawn mower of the present application is provided with only one laser radar on its housing. By providing a single laser radar to achieve navigation and obstacle avoidance functions, the hardware structure is simplified. This also overcomes the problem of complex control systems resulting from the use of multiple external sensors in the prior art. The use of only one laser radar in the present application saves costs and improves the product experience.

[0140] In some embodiments, the lidar also integrates weather detection capabilities. Lidar can be used for weather detection; that is, the lidar is used for navigation, obstacle avoidance, and weather detection in the smart lawn mower. The smart lawn mower not only enables navigation and obstacle avoidance, but also includes weather detection capabilities to adaptively adjust its operating state based on weather conditions, thereby improving the safety and efficiency of the smart lawn mower.

[0141] In some embodiments, only one laser radar is provided to integrate the navigation, obstacle avoidance, and weather detection functions of the smart lawn mower. The smart lawn mower of this application is equipped with only one laser radar on its housing. By providing navigation, obstacle avoidance, and weather detection functions with a single laser radar, the hardware structure is simplified. This also overcomes the problem of complex control systems caused by the use of multiple external sensors in the prior art. The use of only one laser radar in this application saves costs and improves the product experience.

[0142] In some embodiments, a laser radar is positioned at an angle to the horizontal plane in the front area of ​​the top of the housing. The laser radar is positioned on the housing at an angle relative to the horizontal plane, thereby minimizing the blind spot at the front of the smart lawn mower. It should be noted that positioning the laser radar at the front area of ​​the top of the housing enables environmental monitoring of the area in the direction of travel of the smart lawn mower.

[0143] In some embodiments, the mounting plate has a sensor device mounting portion; along the traveling direction of the smart lawn mower, the rear end of the sensor device mounting portion is higher than the front end of the sensor device mounting portion, so that along the traveling direction of the smart lawn mower, the rear end of the connection surface between the laser radar and the sensor device mounting portion is higher than the front end of the connection surface between the laser radar and the sensor device mounting portion, so as to form a sensor device mounting portion that is inclined relative to the horizontal plane along the traveling direction of the smart lawn mower, thereby realizing that the laser radar is also in an inclined state when installed on the sensor device mounting portion, so as to facilitate the detection of the environment and the real-time detection and mapping of the terrain, thereby avoiding obstacles and performing precise operations.

[0144] In some embodiments, the laser radar has a horizontal field of view of 360° and a vertical field of view greater than or equal to 30°. The larger the vertical field of view, the greater the laser radar's detectable range, the smaller the distance between the laser radar's detectable area and the edge of the machine, and the smaller the blind spot. When a laser radar with a vertical field of view greater than or equal to 30° is used and its installation position on the lawn mower is determined by the aforementioned parameters, the detection range can be increased while reducing the distance between the laser radar's detection range and the edge of the machine, thereby achieving the technical effect of reducing the blind spot.

[0145] A smart lawn mower includes a protective mechanism having a protective space; a laser radar; at least one of the protective mechanism and the laser radar is movably configured to allow the laser radar to be selectively located within the protective space, or to allow the laser radar to be selectively located at least partially outside the protective space; the protective mechanism is used to protect the laser radar. By relative movement between the protective mechanism and the laser radar, when the laser radar needs to be protected, the laser radar can be located inside the protective space; when the laser radar needs to be operated, the laser radar can be partially located outside the protective space. The protective mechanism of the present application thus provides protection for the laser radar, thereby avoiding the problem of smart lawn mowers in the prior art being easily damaged or displaced, thereby affecting detection accuracy.

[0146] In some embodiments, the protective mechanism and the laser radar can move relative to each other, and at least one of the protective mechanism and the laser radar can be movable to enable the protective space formed by the protective mechanism to cover the laser radar, thereby achieving protection for the laser radar.

[0147] In some embodiments, the movable protection mechanism can be linearly movable or rotatable; and / or the movable laser radar can be linearly movable or rotatable. The protection mechanism and / or the laser radar can use linear motion to extend or retract the laser radar into the protected space to achieve the technical effect of protection. The protection mechanism and / or the laser radar can use rotation to move the laser radar into or out of the protected space to achieve the technical effect of protection.

[0148] In some embodiments, the protective mechanism includes a first protective member, and the laser radar is fixedly mounted on the first protective member, or the laser radar is movably mounted on the first protective member. When the laser radar is fixedly mounted on the first protective member, the first protective member provides support for the installation of the laser radar, thereby fixing the laser radar; when the laser radar is movably mounted on the first protective member, the laser radar can move relative to the first protective member.

[0149] In some embodiments, the protective mechanism further includes a second protective member, movably connected to the first protective member, capable of at least partially covering the laser radar. The second protective member, movably coupled to the first protective member, cooperates with the first protective member to form a protective space. The movement of the second protective member allows the second protective member to at least partially cover the laser radar, thereby protecting the laser radar from damage and improving radar safety.

[0150] In some embodiments, the first and second protective members are rotatably connected, or the first and second protective members are slidably connected. Rotating or sliding the second protective member allows the second protective member to form a protective space that blocks the laser radar, or allows the second protective member to avoid the radar body of the laser radar. The use of a rotating or sliding second protective member has the advantages of a simple overall structure and easy operation.

[0151] In some embodiments, the smart lawn mower includes a first drive member, which is driven and connected to the second guard member. The first drive member can drive the second guard member to move relative to the first guard member. The first drive member provides driving force for the second guard member to move relative to the first guard member, thereby achieving a technical effect without manually driving the second guard member.

[0152] In some embodiments, the second protective member is provided with an operating portion. When the second protective member needs to be moved, the operating portion can be used to drive the second protective member to cover the laser radar, so that the laser radar is located inside the protective space. The operating portion can also be used to rotate the second protective member to remove the second protective member from covering the laser radar, so that at least a portion of the laser radar is located outside the protective space. The provision of the operating portion facilitates the actuation of the second protective member.

[0153] In some embodiments, the second protective element is a retractable protective element, or a foldable protective element, or a retractable protective element, so that a protective space can be formed between the second protective element and the first protective element under the drive of the second driving element, thereby enabling the protection radar to be disposed inside the protective space or at least partially outside the protective space.

[0154] In some embodiments, a protective space can be formed between the first and second protective members; the second protective member can move relative to the first protective member, thereby positioning the laser radar at least partially within the protective space, or positioning the laser radar at least partially outside the protective space. The second protective member, positioned relative to the first protective member, can move to position the laser radar within the protective space, thereby enabling the second protective member to protect the laser radar while also providing a dust-proofing effect.

[0155] In some embodiments, the second protective member comprises a shielding plate segment and a connecting arm connected to the shielding plate segment, the connecting arm being rotatably connected to the first protective member. The connecting arm achieves a rotatable connection with the first protective member, thereby enabling the connecting arm to drive the shielding plate segment to rotate. The shielding plate segment rotates toward the LiDAR to block the LiDAR. The mating structure of the shielding plate segment and the connecting arm enables the rotatable structure of the second protective member, and the provision of the connecting arm facilitates enhanced rotational stability.

[0156] In some embodiments, the second protective member is a protective cover, and the shielding plate segment is a shielding plate segment with a curved outer surface. During the rotation of the protective cover, a protective space is formed between the shielding plate segment with the curved outer surface and the first protective member to protect the laser radar.

[0157] In some embodiments, the connecting arms are integrally formed with the shielding plate segment; and / or the connecting arms are provided in pairs on either side of the shielding plate segment; and / or the connecting arms are bent and formed with the shielding plate segment. The integrally formed connecting arms and shielding plate segment facilitates simplified production processes, strengthens the connection between the connecting arms and the shielding plate segment, and improves the overall stability of the second protective member; and / or the connecting arms are provided in pairs on either side of the shielding plate segment, thereby enabling the shielding plate to be driven to rotate via the connecting arms on both sides, thereby improving the stability of the shielding plate's rotation.

[0158] In some embodiments, at least two second protective members are provided, and a limiting structure is provided between adjacent second protective members; the limiting structure allows adjacent second protective members to be connected in a limited manner. During rotation, the plurality of second protective members can be linked together by the limiting structure, thereby forming a protective space covering the laser radar by rotating the plurality of second protective members.

[0159] In some embodiments, the limiting structure includes a first limiting connection portion provided on one of the plurality of second guards, and a second limiting connection portion provided on another adjacent second guard. The first limiting connection portion and the second limiting connection portion are capable of abutting against each other to limit the relative motion between adjacent second guards. The first limiting connection portion and the second limiting connection portion are respectively provided on two adjacent second guards. When one of the second guards rotates, the first limiting structure portion and the second limiting structure portion begin to abut against each other when the second guard reaches a predetermined angle. Continued rotation of the second guard can drive the other second guard to begin rotating through the limiting structure, thereby achieving a linkage effect.

[0160] In some embodiments, the first position-limiting connection portion includes a first rib, and the second position-limiting connection portion includes a second rib that matches the first rib. The surfaces of the first and second ribs that face each other serve as abutment surfaces. When the second guard member rotates, the two abutment surfaces abut, thereby enabling one of the second guard members to drive the other to rotate.

[0161] In some embodiments, the degree of overlap of the multiple second protective elements when the laser radar is located within the protected space is no greater than the degree of overlap of the multiple second protective elements when at least a portion of the laser radar is located outside the protected space. To position at least a portion of the laser radar outside the protected space, the multiple second protective elements can be rotated so that they are positioned on one side of the laser radar and stacked together. If the laser radar needs to be located within the protected space, the multiple second protective elements can be driven to rotate in unison to cover the laser radar, placing the laser radar inside the protected space.

[0162] In some embodiments, the first protective member has a receiving groove, which forms a protective space, and the laser radar can at least partially extend out of the protective space. By providing the receiving groove for receiving the laser radar, the laser radar can be protected.

[0163] In some embodiments, the second protective member can move relative to the first protective member to cover or expose the laser radar. When the laser radar is inside the receiving tank, the second protective member can be moved to block the slot opening of the receiving tank, thereby covering the laser radar. The second protective member covering the slot opening of the receiving tank helps prevent dirt from falling into the receiving tank and also improves the overall aesthetics.

[0164] In some embodiments, the smart lawn mower further includes a transmission assembly that is in transmission connection with the laser radar. The transmission assembly is capable of driving the laser radar to move it into the protected space or to at least partially outside the protected space. By disposing the transmission assembly between the first protective member and the laser radar, the laser radar can be moved relative to the first protective member, thereby enabling the laser radar to at least partially extend out of the protected space or be positioned within the protected space. The transmission assembly facilitates improved laser radar movement efficiency.

[0165] In some embodiments, the transmission assembly can drive the laser radar to move up and down relative to the receiving tank, or to rotate the laser radar relative to the receiving tank. The laser radar is accommodated in the protective space or extends out of the protective space by a lifting method.

[0166] In some embodiments, the transmission assembly includes a second drive member; a first transmission member, the first transmission member is connected to the laser radar; a second transmission member, the second transmission member is drivingly connected to the second drive member, and the second transmission member is drivingly connected to the first transmission member; the second drive member can drive the second transmission member to move, thereby driving the first transmission member and the laser radar to move in coordination. The second drive member acts as a power element to drive the second transmission member to move, and the second drive member can be a motor, a cylinder, etc. The laser radar is driven to move by the second drive member in conjunction with the first transmission member and the second transmission member, so that the laser radar is inside the protection space or at least a part of the laser radar is outside the protection space. The movement of the laser radar of the present application can be automatically switched by setting the structure of the second drive member without human intervention, thereby improving the level of automation and the user experience.

[0167] In some embodiments, the second transmission member includes a first gear, and the first transmission member includes a rack adapted to mate with the first gear, the rack meshing with the first gear. The meshing of the rack, the first gear, and the rack enables the first gear to rotate when the second driving member drives the first gear, thereby driving the rack and the laser radar to move in concert.

[0168] In some embodiments, the second transmission member includes a first gear, the first transmission member includes a second gear adapted to the first gear, and the first gear and the second gear are meshed. The meshing of the first gear and the second gear enables the second driving member to drive the second gear to rotate via the first gear, and the second gear cooperates with the laser radar.

[0169] In some embodiments, the second gear is an internal gear, or an external gear. The first gear meshes with the internal gear, and the first gear and the internal gear rotate in the same direction. When the second gear is an external gear, the side of the external gear is connected to the laser radar, and the first gear and the external gear rotate in opposite directions.

[0170] In some embodiments, the smart lawn mower has a casing, the first protective part is the casing, so that the laser radar is fixedly set on the casing, and the second protective part is rotatably set on the casing, thereby realizing that the second protective part can rotate relative to the casing and cooperate with the casing to form a protective space.

[0171] In some embodiments, the smart lawn mower further includes a cover plate, and the housing and the cover plate together constitute a first protective member. The laser radar is disposed on the housing, and the second protective member is rotatably disposed on the housing, thereby enabling the second protective member to rotate and form a protective space. The rotation of the second protective member allows the laser radar to be located within the protective space, or at least a portion of the laser radar to be located outside the protective space.

[0172] In some embodiments, a laser radar is positioned at an angle to the horizontal plane in the front area of ​​the top of the housing. The laser radar is positioned on the housing at an angle relative to the horizontal plane, thereby minimizing the blind spot at the front of the smart lawn mower. It should be noted that positioning the laser radar at the front area of ​​the top of the housing enables environmental monitoring of the area in the direction of travel of the smart lawn mower.

[0173] In some embodiments, the laser radar integrates at least two of the smart lawn mower's navigation, obstacle avoidance, and weather detection functions. The smart lawn mower of the present application has at least two of these functions. This multi-functional smart lawn mower significantly improves automation, which in actual use helps improve work efficiency, reduce manual intervention, and enhance user experience.

[0174] In some embodiments, the LiDAR integrates navigation and obstacle avoidance functions into the smart lawn mower. The LiDAR with navigation functions facilitates path planning and guidance of the smart lawn mower during operation, controlling its direction through navigation and improving its efficiency. The LiDAR with obstacle avoidance functions also helps prevent collisions between the smart lawn mower and obstacles, enhancing the safety of the smart lawn mower.

[0175] In some embodiments, only one laser radar is provided for the navigation and obstacle avoidance functions of the smart lawn mower. The smart lawn mower of this application is provided with only one laser radar on its housing. By providing navigation and obstacle avoidance functions with a single laser radar, the hardware structure is simplified. This also overcomes the problem of complex control systems caused by the use of multiple external sensors in the prior art. The use of only one laser radar in this application saves costs and improves the product experience.

[0176] In some embodiments, the LiDAR also integrates a weather detection function, so that the weather conditions of the smart lawn mower can be detected by the LiDAR; that is, the LiDAR is used for navigation, obstacle avoidance, and weather detection of the smart lawn mower.

[0177] In some embodiments, only one laser radar is provided to integrate the navigation, obstacle avoidance, and weather detection functions of the smart lawn mower. The smart lawn mower of this application is equipped with only one laser radar on its housing. By providing navigation, obstacle avoidance, and weather detection functions with a single laser radar, the hardware structure is simplified. This also overcomes the problem of complex control systems caused by the use of multiple external sensors in the prior art. The use of only one laser radar in this application saves costs and improves the product experience.

[0178] In some embodiments, the laser radar has a horizontal field of view of 360° and a vertical field of view greater than or equal to 30°. The larger the vertical field of view, the greater the laser radar's detectable range, the smaller the distance between the laser radar's detectable area and the edge of the machine, and the smaller the blind spot. When a laser radar with a vertical field of view greater than or equal to 30° is used and its installation position on the lawn mower is determined by the aforementioned parameters, the detection range can be increased while reducing the distance between the laser radar's detection range and the edge of the machine, thereby achieving the technical effect of reducing the blind spot.

[0179] A smart lawn mower includes a support, an upper cover, a laser radar and a heat dissipation structure. The upper cover includes a cover plate, which is arranged on the support. A through-hole is provided on the cover plate. The laser radar is arranged on the support. The laser radar is arranged in the rear end area of ​​the smart lawn mower along the forward direction. The laser radar includes a radar body, and at least part of the laser radar extends outward from the through-hole. At least part of the heat dissipation structure is located between the upper cover and the support. The heat dissipation structure is used to dissipate heat for the laser radar. The heat dissipation structure cools the laser radar to prevent the heat generated when the laser radar is working from affecting the detection accuracy of the laser radar. Among them, setting the laser radar at the rear end area of ​​the smart lawn mower helps the lawn mower to immediately detect the completed area after completing the mowing task at one end, to ensure the mowing quality and cutting coverage; at the same time, in complex working environments, such as near eaves and bushes, when the laser radar is set at the front end of the smart lawn mower, when the front end of the smart lawn mower drives into the eaves and bushes, it will block the laser radar signal; the laser radar set at the rear end of the smart lawn mower can provide more stable positioning and environmental perception, reducing the situation of missed cutting or deviation from the preset path; at the same time, when the smart lawn mower is moving, the upper cover of the body of the smart lawn mower has a diversion effect on the air. Setting the laser radar at the rear end area of ​​the smart lawn mower can more effectively divert the air to the surrounding area of ​​the laser radar, thereby achieving better heat dissipation of the laser radar.

[0180] A smart lawn mower includes a support, an upper cover, and a laser radar. The upper cover includes a cover plate, which is arranged on the support. A through-opening is provided on the cover plate. The laser radar is arranged on the support. The laser radar is arranged in the rear end area of ​​the smart lawn mower along the forward direction. The laser radar includes a radar body and a heat sink of a second sensor device. The heat sink of the second sensor device is at least partially located between the upper cover and the support. The working surface of the smart lawn mower is defined as a reference plane. The orthographic projection of the radar body on the reference plane is located within the outer contour line of the orthographic projection of the second sensor device on the heat dissipation reference plane. At least part of the laser radar is located between the upper cover and the support, and at least part of the laser radar extends outward from the through-opening. Setting the LiDAR at the rear end of the smart lawn mower can help the mower to immediately detect the completed area after completing the mowing task at one end, to ensure the mowing quality and cutting coverage; at the same time, in complex working environments, such as near eaves and bushes, when the LiDAR is set at the front end of the smart lawn mower, the front end of the smart lawn mower will block the LiDAR signal when it enters the eaves and bushes; the LiDAR set at the rear end of the smart lawn mower can provide more stable positioning and environmental perception, reducing the situation of missing mowing or deviating from the preset path; at the same time, when the smart lawn mower is moving, the body cover of the smart lawn mower has a diversion effect on the air, and setting the LiDAR at the rear end of the smart lawn mower can provide more stable positioning and environmental perception, reducing the situation of missing mowing or deviating from the preset path; at the same time, when the smart lawn mower is moving, the body cover of the smart lawn mower has a diversion effect on the air, and setting the LiDAR at the front ... The rear end area can more effectively guide the air to the surrounding area of ​​the laser radar, thereby achieving better heat dissipation of the laser radar; the orthographic projection of the laser radar on the reference plane is located within the outer contour line of the orthographic projection of the second sensor device heat sink on the reference plane, ensuring that the heat dissipation area of ​​the second sensor device heat sink can cover the laser radar, thereby achieving full-angle heat dissipation of the laser radar and improving the heat dissipation effect of the laser radar. In addition, the outer contour area of ​​the second sensor device heat sink is larger than the outer contour area of ​​the laser radar, so that the volume of the second sensor device heat sink is large enough, and the position of the second sensor device heat sink corresponds to the laser radar, ensuring that the rear end area of ​​the smart lawn mower has sufficient counterweight to improve the grip of the rear wheels of the lawn mower.

[0181] In some embodiments, the smart lawn mower further includes two rear wheels, with the center of the LiDAR located on the perpendicular bisector of the line connecting the axles of the two rear wheels. Placing the LiDAR on the perpendicular bisector of the midpoint between the two rear wheels enables comprehensive safety detection, enhancing the mower's safety in various scenarios. Furthermore, placing the LiDAR on the perpendicular bisector of the midpoint between the two rear wheels prevents the center of gravity from shifting across the width of the machine, ensuring the stability of the smart lawn mower's motion.

[0182] In some embodiments, the central axis of the radar body passes through the area between the two rear wheels. This allows the center of gravity of the lidar to be located between the two rear wheels or above them, increasing friction between the rear wheels and the ground, thereby improving the climbing performance of the smart lawn mower.

[0183] In some embodiments, the central axis of the radar body is perpendicular to the working surface of the smart lawn mower. This central axis is referred to as axis S, and the central axis of the laser radar is also referred to as axis S. The placement of these axes is independent of the laser radar's installation location. This perpendicularity of the central axis of the radar body to the working surface of the smart lawn mower further improves the safety and stability of the smart lawn mower's operation.

[0184] In some embodiments, the center of the LiDAR is located on the width centerline of the smart lawn mower. Placing the LiDAR on the width centerline enables all-around safety detection, enhancing the mower's safety in various scenarios. Furthermore, placing the LiDAR on the width centerline prevents the center of gravity from shifting across the width of the mower, ensuring the stability of the smart lawn mower's motion.

[0185] In some embodiments, the upper cover further comprises an annular sleeve, which is fixedly connected to the cover plate at the through-hole, and the annular sleeve is provided with a sensor device extension port that matches the laser radar, and the laser radar at least partially extends outward from the sensor device extension port. The upper cover comprises the cover plate and the annular sleeve, and the annular sleeve and the cover plate are detachable. When the laser radar needs to be repaired, only the annular sleeve can be removed, thereby improving the convenience of laser radar repair; at the same time, due to the provision of the annular sleeve, the through-hole on the cover plate can be set to be sufficiently large. With this structure, when the smart lawn mower replaces a different model of laser radar, it is only necessary to replace the annular sleeve of different sizes separately, without having to re-open the mold of the upper cover, thereby ensuring the diversity of laser radar selection and reducing the manufacturing cost of the smart lawn mower; at the same time, by providing the annular sleeve, rainwater can be prevented from entering the internal space of the cover plate of the lawn mower through the through-hole, thereby preventing the laser radar from being damaged by rainwater erosion and extending the service life of the laser radar.

[0186] In some embodiments, the annular sleeve is a heat shield made of black matte material to prevent heat from the lawn mower from being transferred to the non-exposed parts of the LiDAR. The heat shield blocks external heat from entering the LiDAR, preventing overheating and damage to the LiDAR's internal components. The black matte material effectively reduces light reflection and energy loss, thereby providing a degree of thermal insulation.

[0187] In some embodiments, the outer surface of the annular sleeve is an outwardly convex arc-shaped surface. This outwardly convex arc-shaped surface can guide most of the rainwater collected on the surface of the annular sleeve downward, preventing rainwater from entering the interior space of the cover through the gap between the annular sleeve and the laser radar, thereby improving the waterproof performance of the smart lawn mower.

[0188] In some embodiments, the laser radar further includes a support base disposed below the radar body for supporting the radar body, with the upper end of the laser radar extending outwardly from the sensor device extension port. When the base extends outwardly from the sensor device extension port, the annular sleeve does not obstruct the radar body's detection field of view and does not reduce the radar body's field of view. Furthermore, because the radar body's outer surface is spherical, the exterior of the radar body and the sensor device extension port of the annular sleeve do not fully align, resulting in a gap between the two. The base, extending outwardly from the sensor device extension port, can fill the gap between the radar body and the annular sleeve, preventing rainwater from seeping into the internal components of the radar body through the gap.

[0189] In some embodiments, the annular sleeve is provided with at least one first heat dissipation vent to dissipate heat from the LiDAR. Airflow generated by the intelligent lawn mower during operation passes through the first heat dissipation vent and enters the space formed between the cover plate and the support member. The flowing air further promotes heat conduction, thereby improving the heat dissipation effect of the LiDAR.

[0190] In some embodiments, the first heat dissipation opening is a notch structure, and the notch structure is used to achieve gas circulation.

[0191] In some embodiments, the first heat dissipation opening is a heat dissipation hole, and the heat dissipation hole is used to achieve gas circulation.

[0192] In some embodiments, the support member is a housing, and at least one laser radar is disposed in a rear region of the housing, with the top of the laser radar being higher than the top of the upper cover. This higher-than-average top of the laser radar prevents rainwater from flowing from a higher point on the cover to a lower point where the laser radar is located, thereby protecting the laser radar from rainwater erosion to a certain extent.

[0193] In some embodiments, the second sensor device heat sink is disposed around the radar body to dissipate heat from the radar body. Placing the second sensor device heat sink around the radar body dissipates heat from all angles, improving the laser radar's cooling efficiency.

[0194] In some embodiments, the heat sink of the second sensor device includes a plurality of second heat sinks, which are arranged at intervals. The design of the second heat sinks can dissipate heat from the laser radar.

[0195] In some embodiments, the smart lawn mower also includes a first heat dissipation device, which is used to dissipate heat for the laser radar. The first heat dissipation device includes a first sensor device heat sink, which is arranged on the side of the laser radar. The first sensor device heat sink includes a plurality of first heat sinks, which are arranged at intervals to form heat dissipation gaps between the plurality of first heat sinks.

[0196] In some embodiments, the smart lawn mower also includes a mounting plate, which is arranged on the support member, the mounting plate includes a sensor device mounting portion, the laser radar is arranged on the sensor device mounting portion, and the first sensor device heat sink is connected to the mounting plate and is integrated with the mounting plate.

[0197] In some embodiments, the mounting plate is a heat conducting plate, and the smart lawn mower further includes a sensor device heat conducting member, which is arranged between the laser radar and the mounting plate. The sensor device heat conducting member is used to conduct the heat of the laser radar to the mounting plate, and then from the mounting plate to the first sensor device heat sink.

[0198] In some embodiments, the first heat sink further includes a third sensor device heat sink, which is mounted on the mounting plate and connected to the laser radar. The third sensor device heat sink is used to dissipate heat from the laser radar. The third sensor device heat sink is connected to the laser radar and the sensor device mounting portion, thereby transferring heat generated by the laser radar to the sensor device mounting portion. The third sensor device heat sink also functions as a heat conductor and dissipator, thereby cooling the laser radar.

[0199] In some embodiments, the third sensor device heat sink includes at least one of a graphene heat sink and a heat dissipation copper tube, so as to improve the heat dissipation efficiency through the thermal conductivity of the graphene heat sink and the heat dissipation copper tube.

[0200] In some embodiments, the smart lawn mower further includes a second heat dissipation device, which is disposed beside the laser radar and is used for air cooling the laser radar.

[0201] In some embodiments, the support member is provided with at least one third heat dissipation vent, which connects the laser radar to the outside world. The third heat dissipation vent on the support member and the first heat dissipation vent on the annular sleeve form a vertical convection channel, increasing the vertical airflow intensity, improving the air circulation efficiency around the laser radar, and enhancing the laser radar's heat dissipation effect.

[0202] In some embodiments, at least a portion of the heat dissipation element of the second sensor device extends from the third heat dissipation opening to the external space.

[0203] In some embodiments, there is at least one second heat dissipation vent between the cover plate and the support member, and the second heat dissipation vent connects the sensor device accommodating space and the external space to discharge the heat of the laser radar.

[0204] In some embodiments, two laser radars are provided, and another laser radar is provided at the front end area of ​​the smart lawn mower along the direction of travel.

[0205] In some embodiments, the smart lawn mower further includes a light-transmitting cover, which is disposed outside the laser radar.

[0206] In some embodiments, the housing has a first end side and a second end side arranged opposite to each other, and the distance between the front end of the first end side and the front end of the second end side is less than or equal to 600 mm, which can prevent the laser radar installed on the mounting plate from being unable to detect the environment and terrain on both sides of the fuselage.

[0207] A smart lawn mower includes a support member; an upper cover, the upper cover includes a cover plate, the cover plate is arranged on the support member, and a through-opening is provided on the cover plate; a laser radar, the laser radar is arranged on the support member, at least one laser radar is arranged in the rear end area of ​​the smart lawn mower along the forward direction, the laser radar includes a radar body, at least part of the laser radar is located between the upper cover and the support member, and at least part of the laser radar extends outward from the through-opening; a heat dissipation structure, at least part of the heat dissipation structure is located between the upper cover and the support member, and the heat dissipation structure is used to dissipate heat from the laser radar.

[0208] A smart lawn mower includes a support, a laser radar, and an annular sleeve. The laser radar is mounted on the support. The laser radar includes a radar body, a laser emitting unit, and a sensor device extending outward from the annular sleeve. The laser radar extends outward from the sensor device extending outward. The annular sleeve is detachable from the rest of the body structure of the smart lawn mower. When the laser radar needs to be repaired, only the annular sleeve can be removed, thereby improving the convenience of laser radar repair. At the same time, the annular sleeve allows the through-hole connected to the annular sleeve to be sufficiently large. With this structure, when replacing a different model of laser radar, the smart lawn mower only needs to replace the annular sleeve with a different size, without having to re-mold other parts of the body. This ensures a variety of laser radar models and reduces the manufacturing cost of the smart lawn mower. At the same time, the annular sleeve can prevent rainwater from entering the internal components of the laser radar through the through-hole, thereby preventing the laser radar from being damaged by rainwater erosion and extending the service life of the laser radar. In some embodiments, the annular sleeve is provided with at least one first heat dissipation vent to dissipate heat from the laser radar. The airflow generated by the intelligent lawn mower during operation flows through the first heat dissipation vent and into the space within the cover where the LiDAR is located. The flowing air further promotes heat conduction, improving the heat dissipation effect of the LiDAR. In some embodiments, the first heat dissipation vent is a notch structure that is used to facilitate air circulation.

[0209] In some embodiments, the first heat dissipation opening is a heat dissipation hole, and the heat dissipation hole is used to achieve gas circulation.

[0210] In some embodiments, the annular cover is made of a black matte material to prevent heat from the lawn mower from being transferred to the non-exposed parts of the LiDAR. The heat shield can block external heat from entering the LiDAR, preventing overheating and damage to the LiDAR's internal components. The black matte material effectively reduces light reflection and loss, thereby providing a certain degree of thermal insulation.

[0211] In some embodiments, the outer surface of the annular sleeve is an outwardly convex arc-shaped surface. This outwardly convex arc-shaped surface can guide most of the rainwater collected on the surface of the annular sleeve downward, preventing rainwater from entering the internal components of the laser radar through the gap between the annular sleeve and the laser radar, thereby improving the waterproof performance of the smart lawn mower.

[0212] In some embodiments, the smart lawn mower further includes a second sensor heat sink, which is used to dissipate heat from the radar body. The working surface of the smart lawn mower is defined as a reference plane, and the orthographic projection of the radar body on the reference plane lies within the outer contour of the orthographic projection of the second sensor heat sink on the reference plane. The orthographic projection of the lidar on the reference plane lies within the outer contour of the orthographic projection of the second sensor heat sink on the reference plane, ensuring that the heat dissipation area of ​​the second sensor heat sink covers the lidar, achieving full-angle heat dissipation for the lidar and improving its heat dissipation efficiency.

[0213] In some embodiments, a second sensor device heat sink is disposed around the periphery of the radar body. The second sensor device heat sink includes a plurality of second heat sink fins spaced apart from each other. Placing the second sensor device heat sink around the periphery of the radar body dissipates heat from the laser radar from all angles, improving the laser radar's cooling efficiency.

[0214] In some embodiments, the smart lawn mower further includes a cover plate, which is disposed on the support member. A through opening is disposed on the cover plate, and the annular sleeve is fixedly connected to the cover plate at the through opening.

[0215] In some embodiments, at least one third heat dissipation opening is provided on the support member, and the third heat dissipation opening connects the sensor device accommodating space with the external space.

[0216] In some embodiments, a sensor housing space is formed between the cover and the support member, and the laser radar is at least partially disposed within the sensor housing space. Placing the laser radar between the cover and the support member allows for easy replacement of the laser radar by simply opening the cover if it becomes damaged and needs to be removed, thus improving maintenance convenience.

[0217] In some embodiments, the support member is provided with at least one third heat dissipation vent, which connects the sensor device housing space with the external space. The third heat dissipation vent on the support member and the first heat dissipation vent on the annular sleeve form a vertical convection channel, increasing the vertical airflow intensity, improving the air circulation efficiency around the laser radar, and enhancing the laser radar's heat dissipation effect.

[0218] In some embodiments, along the forward direction of the lawn mower, the rear end of the laser radar is higher than the front end of the laser radar, the angle between the line connecting the rear end of the laser radar and the front end of the laser radar and the horizontal plane is 10-60 degrees, and the horizontal distance between the laser emitting portion of the radar body and the front end of the intelligent lawn mower along the forward direction is 40mm-180mm. When the installation position of the laser radar is determined, if the angle between the line connecting the rear end of the laser radar and the front end of the laser radar and the horizontal plane is less than 10 degrees, the distance between the laser radar's detection range and the edge of the machine body is large, and the blind spot formed is also large; when the angle between the line connecting the rear end of the laser radar and the front end of the laser radar and the horizontal plane is greater than 60 degrees, the laser radar cannot detect the side and rear of the lawn mower, which is not conducive to obstacle avoidance. When the laser radar is set at a certain angle and the horizontal distance between the laser emitting part of the radar body and the front end of the smart lawn mower in the forward direction is set within the range of 40mm-180mm, the distance between the detection area of ​​the laser emitting part and the edge of the machine can be easily controlled to be less than or equal to 0.2m. At this time, the impact of the casing on the detection area of ​​the radar body is effectively reduced, the detection range of the radar body is larger, and the blind spot at the edge of the fuselage is greatly reduced, thereby improving the detection efficiency of the smart lawn mower, which is conducive to improving the navigation and obstacle avoidance accuracy of the smart lawn mower; in addition, since the drive wheel diameter of the smart lawn mower is large, and the drive wheel is mostly the rear wheel of the lawn mower, this structure makes the highest point of the smart lawn mower at the rear end area of ​​the fuselage. Setting the laser radar in the front end area of ​​the fuselage will not affect the established height of the smart lawn mower, and thus will not affect the minimum height of the smart lawn mower to pass through a low space, ensuring the obstacle avoidance performance of the smart lawn mower under suspended obstacles. The angle between the line between the rear end of the laser radar and the front end of the laser radar and the horizontal plane referred to in this embodiment also refers to the angle between the line between the rear end of the laser radar and the front end of the laser radar and the working surface of the smart lawn mower.

[0219] In some embodiments, the angle between the line connecting the rear end of the laser radar and the front end of the laser radar and the horizontal plane is 15-30 degrees. Setting the angle to 15-30 degrees can more easily control the distance between the detection area of ​​the laser emitting unit and the edge of the machine to a range of less than or equal to 0.2 meters.

[0220] In some embodiments, the center of the LiDAR is located on the width centerline of the smart lawn mower. Placing the LiDAR on the width centerline enables all-around safety detection, enhancing the mower's safety in various scenarios. Furthermore, placing the LiDAR on the width centerline prevents the center of gravity from shifting across the width of the mower, ensuring the stability of the smart lawn mower's motion.

[0221] In some embodiments, there is only one laser radar, and the horizontal field of view angle of the laser radar is greater than or equal to 180°, and the vertical field of view angle is greater than or equal to 30°.

[0222] A smart lawn mower includes a support and a laser radar, the laser radar being mounted on the support. The laser radar includes a radar body. When the smart lawn mower is in a mowing state, the rear end of the laser radar is higher than the front end of the laser radar along the forward direction of the smart lawn mower. The angle between the line connecting the rear end and the front end of the laser radar and the horizontal plane is 10-60 degrees. The horizontal distance between the laser emitting portion of the radar body and the front end of the smart lawn mower along the forward direction of the lawn mower is 40 mm to 180 mm. When the laser radar is positioned, if the angle between the line connecting the rear end and the front end of the laser radar and the horizontal plane is less than 10 degrees, the distance between the laser radar's detection range and the edge of the machine body is large, resulting in a large blind spot. When the angle between the line connecting the rear end and the front end of the laser radar and the horizontal plane is greater than 60 degrees, the laser radar cannot detect the sides and rear of the lawn mower, hindering obstacle avoidance. When the laser radar is set at a certain angle and the horizontal distance between the laser emitting part of the radar body and the front end of the smart lawn mower in the forward direction is set within the range of 40mm-180mm, the distance between the detection area of ​​the laser emitting part and the edge of the machine can be easily controlled to be less than or equal to 0.2m. At this time, the impact of the casing on the detection area of ​​the radar body is effectively reduced, the detection range of the radar body is larger, and the blind spot at the edge of the fuselage is greatly reduced, thereby improving the detection efficiency of the smart lawn mower, which is conducive to improving the navigation and obstacle avoidance accuracy of the smart lawn mower; in addition, since the drive wheel diameter of the smart lawn mower is large, and the drive wheel is mostly the rear wheel of the lawn mower, this structure makes the highest point of the smart lawn mower at the rear end area of ​​the fuselage. Setting the laser radar in the front end area of ​​the fuselage will not affect the established height of the smart lawn mower, and thus will not affect the minimum height of the smart lawn mower to pass through a low space, ensuring the obstacle avoidance performance of the smart lawn mower under suspended obstacles. The angle between the line between the rear end of the laser radar and the front end of the laser radar and the horizontal plane referred to in this embodiment also refers to the angle between the line between the rear end of the laser radar and the front end of the laser radar and the working surface of the smart lawn mower.

[0223] In some embodiments, when mowing, the angle between the line connecting the rear end of the laser radar and the front end of the laser radar and the horizontal plane is 15-30°. The above setting can more easily control the distance between the detection area of ​​the laser emitting part and the edge of the machine to be less than or equal to 0.2m.

[0224] In some embodiments, the center of the LiDAR is located on the width centerline of the smart lawn mower. Placing the LiDAR on the width centerline enables all-around safety detection, enhancing the mower's safety in various scenarios. Furthermore, placing the LiDAR on the width centerline prevents the center of gravity from shifting across the width of the mower, ensuring the stability of the smart lawn mower's motion.

[0225] In some embodiments, there is only one laser radar, which is set at the front end area of ​​the smart lawn mower along the direction of travel. The laser radar set at the front end area is beneficial for the smart lawn mower to detect the direction of travel.

[0226] In some embodiments, the horizontal field of view angle of the laser radar is greater than or equal to 180°, and the vertical field of view angle is greater than or equal to 30°.

[0227] In some embodiments, the horizontal field of view of the laser radar is 360°, and the vertical field of view is greater than or equal to 30°.

[0228] In some embodiments, two laser radars are provided, with at least one of the two laser radars positioned at the front end of the smart lawn mower along its direction of travel. Because the drive wheels of smart lawn mowers have a relatively large diameter, and the drive wheels are typically the rear wheels, this configuration places the highest point of the smart lawn mower at the rear end of the body. Placing the laser radar at the front end of the body does not affect the desired height of the smart lawn mower, thereby ensuring the minimum height required for the smart lawn mower to pass through low spaces and ensuring the smart lawn mower's obstacle avoidance capabilities around suspended obstacles.

[0229] In some embodiments, the horizontal field of view angle of the laser radar is greater than or equal to 80°, and the vertical field of view angle is greater than or equal to 30°. The larger the vertical field of view angle, the larger the detectable range of the laser radar, the smaller the distance between the detectable area of ​​the laser radar and the edge of the machine, and the smaller the blind spot. When using a laser radar with a vertical field of view angle greater than or equal to 30° and determining the installation position on the lawn mower by the aforementioned parameters, the detection range can be increased while reducing the distance between the laser radar detection range and its edge, thereby achieving the technical effect of reducing the blind spot.

[0230] In some embodiments, the horizontal field of view angle of the laser radar is greater than or equal to 110°, and the vertical field of view angle is greater than or equal to 30°.

[0231] In some embodiments, the horizontal field of view of the two lidars is greater than the horizontal field of view of a single lidar.

[0232] In some embodiments, there are three laser radars, and at least one of the three laser radars is arranged at the front end area of ​​the smart lawn mower along the travel direction.

[0233] In some embodiments, the horizontal field of view angle of the laser radar is greater than or equal to 80°, and the vertical field of view angle is greater than or equal to 30°. The larger the vertical field of view angle, the larger the detectable range of the laser radar, the smaller the distance between the detectable area of ​​the laser radar and the edge of the machine, and the smaller the blind spot. When using a laser radar with a vertical field of view angle greater than or equal to 30° and determining the installation position on the lawn mower by the aforementioned parameters, the detection range can be increased while reducing the distance between the laser radar detection range and its edge, thereby achieving the technical effect of reducing the blind spot.

[0234] In some embodiments, the horizontal field of view angle of the laser radar is greater than or equal to 110°, and the vertical field of view angle is greater than or equal to 30°.

[0235] In some embodiments, the horizontal field of view of the three lidars is greater than the horizontal field of view of a single lidar.

[0236] In some embodiments, the distance between the detection area of ​​the laser emitting portion and the edge of the machine is less than or equal to 0.2 m.

[0237] In some embodiments, the smart lawn mower further includes a mounting plate disposed on the support member, and the laser radar is mounted on the mounting plate.

[0238] In some embodiments, the mounting plate has a sensor device mounting portion, and the laser radar is mounted on the sensor device mounting portion; along the moving direction of the smart lawn mower, the rear end of the connection surface between the sensor device mounting portion and the laser radar is higher than the front end of the connection surface between the sensor device mounting portion and the laser radar, so that along the moving direction of the smart lawn mower, the rear end of the laser radar is higher than the front end of the laser radar.

[0239] In some embodiments, the smart lawn mower further includes a sensor device shock absorber, which is disposed between the laser radar and the mounting plate, and is used to reduce vibration of the laser radar.

[0240] In some embodiments, the support member is the casing of the smart lawn mower. Along the width direction of the casing, the casing has a first end side and a second end side relatively arranged, and the distance between the front end of the first end side and the front end of the second end side is less than or equal to 600 mm, which can prevent the laser radar provided on the mounting plate from being unable to detect the environment and terrain on both sides of the fuselage.

[0241] In some embodiments, the smart lawn mower further comprises an annular sleeve, on which a sensor device extension port matching the laser radar is provided, and the laser radar at least partially extends outward from the sensor device extension port. The annular sleeve is detachable from the other body structures of the smart lawn mower. When the laser radar needs to be repaired, only the annular sleeve can be removed, thereby improving the convenience of laser radar repair. At the same time, due to the provision of the annular sleeve, the through-hole connected to the annular sleeve can be set to be sufficiently large. With this structure, when replacing laser radars of different models, the smart lawn mower only needs to replace annular sleeves of different sizes separately, without the need to re-mold other parts of the body, thereby ensuring the diversity of laser radar selection and reducing the manufacturing cost of the smart lawn mower. At the same time, by providing the annular sleeve, rainwater can be prevented from entering the internal components of the laser radar through the through-hole, thereby preventing the laser radar from being damaged by rainwater erosion and extending the service life of the laser radar.

[0242] In some embodiments, the annular sleeve is provided with at least one first heat dissipation vent to dissipate heat from the LiDAR. Airflow generated by the intelligent lawn mower during operation passes through the first heat dissipation vent and enters the space within the cover where the LiDAR is located. The flowing air further promotes heat conduction, thereby improving the heat dissipation effect of the LiDAR.

[0243] In some embodiments, the first heat dissipation opening is a notch structure.

[0244] In some embodiments, the first heat dissipation opening is a heat dissipation hole.

[0245] In some embodiments, the annular cover is made of a black matte material to prevent heat from the lawn mower from being transferred to the non-exposed parts of the LiDAR. The heat shield can block external heat from entering the LiDAR, preventing overheating and damage to the LiDAR's internal components. The black matte material effectively reduces light reflection and loss, thereby providing a certain degree of thermal insulation.

[0246] In some embodiments, the outer surface of the annular sleeve is an outwardly convex arc-shaped surface. This outwardly convex arc-shaped surface can guide most of the rainwater collected on the surface of the annular sleeve downward, preventing rainwater from entering the internal components of the laser radar through the gap between the annular sleeve and the laser radar, thereby improving the waterproof performance of the smart lawn mower.

[0247] This application has the following beneficial effects:

[0248] The lawn mower of the present application is provided with only one integrated sensor device on its casing. By providing an integrated sensor device, the functions of navigation, obstacle avoidance and weather detection are realized, which simplifies the hardware structure. At the same time, it also overcomes the problem of complex control system caused by the use of multiple external sensors in the prior art. The present application only uses one integrated sensor device, which saves costs and improves the product experience.

[0249] The lawn mower of the present application can detect and map the terrain in real time by setting up an integrated sensor device, so as to avoid obstacles and operate accurately, making the operation of the lawn mower more stable and safe. In addition, the field of view of the integrated sensor device of the present application can see the nearest points of the front end, left end and right end of the machine, further improving the safety of the operation of the lawn mower. BRIEF DESCRIPTION OF THE DRAWINGS

[0250] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments recorded in this application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0251] FIG1 is a schematic side view of the structure of an intelligent lawn mower without a cover in a specific embodiment of the present application;

[0252] FIG2 is a schematic diagram of a top view of the intelligent lawn mower without a cover in a specific embodiment of the present application;

[0253] FIG3 is a schematic diagram of the three-dimensional structure of the intelligent lawn mower in a specific embodiment of the present application without a cover;

[0254] FIG4 is an exploded view of the installation structure of the radar body, the sensor device shock-absorbing member, the sensor device heat-conducting member, and the installation plate in a specific embodiment of the present application;

[0255] FIG5 is a schematic diagram of the three-dimensional structure of a heat sink of a first sensor device in a specific embodiment of the present application;

[0256] FIG6 is a schematic diagram of the three-dimensional structure of the installation structure of the shock-absorbing component and the heat-conducting component of the sensor device in a specific embodiment of the present application;

[0257] FIG7 is a schematic diagram of the three-dimensional structure of an annular sleeve in a specific embodiment of the present application;

[0258] FIG8 is a top view of the intelligent lawn mower with a cover plate in a specific embodiment of the present application;

[0259] FIG9 is a front view of the intelligent lawn mower with a cover plate in a specific embodiment of the present application;

[0260] FIG10 is a schematic diagram of the three-dimensional structure of an intelligent lawn mower in a specific embodiment of the present application;

[0261] FIG11 is a schematic diagram of the bottom structure of an intelligent lawn mower in a specific embodiment of the present application;

[0262] FIG12 is a schematic diagram of the installation structure of the first heat dissipation device and the laser radar in a specific embodiment of the present application;

[0263] FIG13 is a schematic structural diagram of a third heat dissipation port in a specific embodiment of the present application;

[0264] FIG14 is a schematic top view of the structure of a second heat dissipation device in a specific embodiment of the present application;

[0265] FIG15 is a schematic top view of the structure in which the heat sink of the third sensor device is installed on a side close to the second heat sink in a specific embodiment of the present application;

[0266] FIG16 is a schematic top view of a structure in which a heat sink of a third sensor device is installed on a side away from a second heat sink in a specific embodiment of the present application;

[0267] FIG17 is a schematic diagram of a three-dimensional structure in which a heat sink of a third sensor device is installed on a side close to and away from a second heat sink in a specific embodiment of the present application;

[0268] FIG18 is a schematic top view of the structure in which the heat sink of the third sensor device is installed on a side close to and away from the second heat sink in a specific embodiment of the present application;

[0269] FIG19 is a schematic diagram of a three-dimensional structure of the connection between the mounting plate and the housing in a specific embodiment of the present application;

[0270] FIG20 is a schematic diagram of the three-dimensional structure of the mounting structure of the shock-absorbing component of the sensor device and the laser radar in a specific embodiment of the present application;

[0271] FIG21 is a schematic diagram of the three-dimensional structure of the mounting structure of the shock-absorbing component of the sensor device and the laser radar in Example 8 of the present application;

[0272] FIG22 is an exploded view of the mounting structure of the shock-absorbing component of the sensor device and the laser radar in Example 8 of the present application;

[0273] FIG23 is a schematic diagram of the three-dimensional structure of the mounting structure of the shock-absorbing component of the sensor device and the laser radar in Example 7 of the present application;

[0274] FIG24 is an exploded view of the mounting structure of the shock-absorbing component of the sensor device and the laser radar in Example 7 of the present application;

[0275] FIG25 is a schematic diagram of the three-dimensional structure of the shock-absorbing column in Example 7 of the present application;

[0276] FIG26 is an exploded view of the mounting structure of the shock-absorbing component of the sensor device and the laser radar in Example 9 of the present application;

[0277] FIG27 is a schematic diagram of the installation structure of the shock-absorbing component of the sensor device and the laser radar according to Example 9 of the present application, which includes a partial cross-sectional view of the second shock-absorbing body;

[0278] FIG28 is a schematic diagram of the three-dimensional structure of the laser radar of the smart lawn mower provided in Example 10 of the present application, which is located inside the protection space;

[0279] FIG29 is a schematic diagram of a three-dimensional structure of a smart lawn mower provided in Example 10 of the present application, in which at least a portion of the laser radar is located outside the protection space;

[0280] FIG30 is a schematic diagram of the three-dimensional structure of the laser radar inside the protection space when the intelligent lawn mower provided by Example 10 of the present application is in the state without a cover;

[0281] FIG31 is a schematic diagram of the three-dimensional structure of the second protective element and the laser radar provided in Example 10 of the present application;

[0282] FIG32 is a schematic diagram of the three-dimensional structure of one of the second protective elements provided in Example 10 of the present application;

[0283] FIG33 is a schematic diagram of the three-dimensional structure of another second protective member provided in Example 10 of the present application;

[0284] FIG34 is a schematic diagram of the three-dimensional structure of the intelligent lawn mower provided in Example 12 of the present application;

[0285] FIG35 is a top view of the intelligent lawn mower provided in Example 12 of the present application;

[0286] FIG36 is a schematic diagram of the three-dimensional structure of the intelligent lawn mower provided in Example 12 of the present application in a state without a cover;

[0287] FIG37 is a schematic diagram of the three-dimensional structure of the housing provided in Example 12 of the present application;

[0288] FIG38 is a schematic diagram of the installation structure of the transmission assembly and the laser radar provided in Example 12 of the present application;

[0289] FIG39 is a schematic diagram of the three-dimensional structure of the intelligent lawn mower provided in Example 13 of the present application;

[0290] FIG40 is a schematic diagram of the three-dimensional structure of the intelligent lawn mower provided in Example 13 of the present application in a state without a cover;

[0291] FIG41 is a schematic diagram of the installation structure of the transmission assembly and the laser radar provided in Example 13 of the present application;

[0292] FIG42 is a schematic diagram of the configuration structure when two integrated sensing devices are provided in Example 2 of the present application, wherein one integrated sensing device is provided in the front region and the other is provided in the rear region;

[0293] FIG43 is a schematic diagram of the field of view of the two integrated sensing devices in FIG42;

[0294] FIG44 is a schematic diagram of the configuration structure when two integrated sensing devices are provided in Example 2 of the present application, wherein one integrated sensing device is provided in the front area and the other is provided in the left area;

[0295] FIG45 is a schematic diagram of the field of view of the two integrated sensing devices in FIG44;

[0296] FIG46 is a schematic diagram of the configuration structure when two integrated sensing devices are provided in Example 2 of the present application, wherein both integrated sensing devices are provided in the front end area;

[0297] FIG47 is a schematic diagram of the field of view of the two integrated sensing devices in FIG46;

[0298] FIG48 is a schematic diagram of the configuration structure when three integrated sensing devices are provided in Example 3 of the present application;

[0299] Figure 49 is a schematic diagram of the field of view angles of the two integrated sensing devices in Figure 48.

[0300] The above drawings include the following reference numerals:

[0301] 1. Casing; 101. Third heat dissipation vent; 11. Mounting plate; 111. Sensor mounting portion; 2. Integrated sensor; 21. Radar body; 22. Second sensor heat sink; 221. Second heat sink; 3. First heat sink; 31. First sensor heat sink; 311. First heat sink; 32. Third sensor heat sink; 321. Graphene heat sink; 322. Heat dissipation copper tube; 4. Cover; 41. Through-hole; 42. Second heat dissipation vent; 5. Annular sleeve; 51. Sensor extension port; 52. First heat dissipation vent; 6. Sensor heat conductor; 7. Sensor shock absorber; 701. First shock absorber body; 7011. Contact surface ;702, first connecting member;703, second connecting member;71, mounting hole;72, second shock-absorbing body;721, first shock-absorbing end;722, second shock-absorbing end;723, shock-absorbing body section;73, third connecting member;731, limiting end;8, protective mechanism;801, protective space;810, second protective member;811, shielding plate section;812, connecting arm;813, operating part;820, limiting structure;821, first limiting connection part;822, second limiting connection part;830, transmission assembly;831, second driving member;832, first transmission member;833, second transmission member;9, auxiliary heat sink;10, second heat dissipation device. DETAILED DESCRIPTION

[0302] To make the objectives, technical solutions, and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Generally, the components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations.

[0303] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for protection, but merely represents selected embodiments of the present application. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments in the present application without creative work are within the scope of protection of the present application.

[0304] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0305] In the description of the embodiments of the present application, it should be understood that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the product of the application is conventionally placed when in use, or are the orientations or positional relationships conventionally understood by those skilled in the art. They are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0306] In the description of the embodiments of this application, it should also be noted that, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to direct connections, indirect connections through an intermediate medium, or internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0307] In the description of the embodiments of the present application, it should also be noted that the terms "first", "second", etc. used in this document do not specifically refer to order or sequence, nor are they used to limit this case. They are only used to distinguish components or operations described with the same technical terms.

[0308] It should be noted that, unless there is any conflict, the embodiments and features in the embodiments of this application can be combined with each other.

[0309] The technical solution in this application will be described below with reference to the accompanying drawings.

[0310] Example 1

[0311] Please refer to Figure 1-41. Example 1 provides an intelligent lawn mower, including a support and an integrated sensing device 2. The integrated sensing device 2 is arranged on the support. The integrated sensing device 2 includes at least two of a navigation unit for navigating the intelligent lawn mower, an obstacle avoidance unit for avoiding obstacles for the intelligent lawn mower, and a weather detection unit for weather detection of the intelligent lawn mower.

[0312] The integrated sensor device 2 is used for at least two of navigation, obstacle avoidance and weather detection of the intelligent lawn mower.

[0313] In some embodiments, the integrated sensing device 2 includes a navigation unit for navigating the intelligent lawn mower and an obstacle avoidance unit for avoiding obstacles. The intelligent lawn mower has a navigation function and an obstacle avoidance function.

[0314] In some embodiments, the integrated sensing device 2 includes a navigation unit for navigating the smart lawn mower and a weather detection unit for detecting weather conditions of the smart lawn mower. The smart lawn mower has both navigation and weather detection functions.

[0315] In some embodiments, the integrated sensing device 2 includes an obstacle avoidance unit for the intelligent lawn mower to avoid obstacles and a weather detection unit for the intelligent lawn mower to detect weather conditions. The intelligent lawn mower has weather detection and obstacle avoidance functions.

[0316] In some embodiments, the integrated sensing device 2 includes a navigation unit for navigating the smart lawn mower, an obstacle avoidance unit for avoiding obstacles, and a weather detection unit for detecting weather conditions. The smart lawn mower has navigation, weather detection, and obstacle avoidance functions.

[0317] In more embodiments, the navigation unit also has a positioning function, the navigation unit is used for positioning, or the navigation unit is used for navigation and positioning.

[0318] Specifically, the navigation unit is integrated into the integrated sensor device 2 and is used for navigation of the intelligent lawn mower, or for navigation and positioning of the intelligent lawn mower.

[0319] Specifically, the obstacle avoidance unit is integrated into the integrated sensor device 2 and is used for obstacle avoidance of the intelligent lawn mower.

[0320] Specifically, the weather detection unit is integrated on the integrated sensing device 2 for weather detection.

[0321] When the integrated sensing device 2 includes at least two of a navigation unit, an obstacle avoidance unit and a weather detection unit, the intelligent lawn mower of the present application has the corresponding functions, that is, the integrated sensing device 2 integrates the corresponding functions, improves the functional integration of the integrated sensing device 2, simplifies the hardware structure, and also overcomes the problem of complex control system caused by the use of multiple external sensors in the prior art. The present application only uses one integrated sensing device 2 to save costs and improve the product experience.

[0322] In other embodiments, the integrated sensing device 2 includes a navigation unit, an obstacle avoidance unit, and a weather detection unit.

[0323] The navigation unit is integrated into the integrated sensor device 2 and is used for navigation of the intelligent lawn mower.

[0324] The obstacle avoidance unit is integrated into the integrated sensor device 2 and is used for obstacle avoidance of the intelligent lawn mower.

[0325] The weather detection unit is integrated into the integrated sensor device 2 for weather detection.

[0326] Among them, when the integrated sensing device 2 includes at least two of a navigation unit, an obstacle avoidance unit and a weather detection unit, the intelligent lawn mower of the present application has the corresponding functions, that is, the integrated sensing device 2 integrates the corresponding functions, improves the functional integration of the integrated sensing device 2, simplifies the hardware structure, and also overcomes the problem of complex control system caused by the use of multiple external sensors in the prior art. The present application only uses one integrated sensing device 2 to save costs and improve the product experience.

[0327] In some embodiments, the weather detection unit includes at least one of a rain detection subunit, a hail detection subunit, a snow detection subunit, a sandstorm detection subunit, and a fog detection subunit. Weather detection includes at least one of rain detection, hail detection, snow detection, sandstorm detection, and fog detection.

[0328] Specifically, the rain detection subunit is integrated on the integrated sensing device 2 to detect whether it is raining; the hail detection subunit is integrated on the integrated sensing device 2 to detect whether it is hail; the snow detection subunit is integrated on the integrated sensing device 2 to detect whether it is snowing; the sandstorm detection subunit is integrated on the integrated sensing device 2 to detect whether there is a sandstorm; and the fog detection subunit is integrated on the integrated sensing device 2 to detect whether it is foggy.

[0329] As shown in FIG. 1 to FIG. 5 , the intelligent lawn mower further includes a mounting plate 11 disposed on the support member. The mounting plate 11 has a sensor device mounting portion 111 , and the integrated sensor device 2 is mounted on the sensor device mounting portion 111 .

[0330] Among them, along the traveling direction of the intelligent lawn mower, the rear end of the connection surface between the sensor device mounting portion 111 and the integrated sensor device 2 is higher than the front end of the connection surface between the sensor device mounting portion 111 and the integrated sensor device 2, so that along the traveling direction of the intelligent lawn mower, the rear end of the integrated sensor device 2 is higher than the front end of the integrated sensor device 2, so as to form the sensor device mounting portion 111 that is inclined relative to the horizontal plane along the traveling direction of the intelligent lawn mower, thereby realizing that the integrated sensor device 2 is also in an inclined state when installed on the sensor device mounting portion 111.

[0331] It should be noted that the moving direction of the intelligent lawn mower may be the length direction of the lawn mower, that is, the Y direction in FIG1 .

[0332] Specifically, the intelligent lawn mower has a housing 1 , the supporting member is the housing 1 of the intelligent lawn mower, and the integrated sensor device 2 is fixedly connected to the housing 1 of the intelligent lawn mower via a mounting plate 11 , which is beneficial to enhancing the installation stability of the integrated sensor device 2 .

[0333] In some embodiments, as shown in FIG1 , the angle of inclination between the connection surface between the sensor mounting portion 111 and the integrated sensor device 2 and the horizontal plane is α, and the range of α is 10°-60°. Preferably, the angle of inclination between the connection surface between the sensor mounting portion 111 and the integrated sensor device 2 and the horizontal plane is 20°.

[0334] In some embodiments, the tilt angle α between the connection surface of the sensor device mounting portion 111 and the integrated sensor device 2 and the horizontal plane can be 15°, or can be in the range of 18°, or can be in the range of 28°. The range of the tilt angle α between the connection surface of the sensor device mounting portion 111 and the integrated sensor device 2 and the horizontal plane is not limited to the values ​​listed, and other values ​​not listed within the numerical range are also applicable.

[0335] It should be noted that the mounting plate 11 may be a convex slope, a concave slope, an irregular slope, or an inclined plane, etc. Since the integrated sensor device 2 is fixedly mounted on the mounting plate 11, the integrated sensor device 2 is also tilted. When the tilt angle α between the connecting surface of the sensor device mounting portion 111 and the integrated sensor device 2 and the horizontal plane is too small, the distance between the detection range of the integrated sensor device 2 and the edge of the fuselage is large, and the blind spot in front formed is also large; when the tilt angle α between the connecting surface of the sensor device mounting portion 111 and the integrated sensor device 2 and the horizontal plane is too large, the integrated sensor device 2 cannot detect the high place in front of the side of the lawn mower, which is not conducive to obstacle avoidance.

[0336] In some embodiments, when the remaining parameters are determined, a 20° inclination angle α between the connection surface between the sensor mounting portion 111 and the integrated sensor device 2 and the horizontal plane facilitates controlling the distance between the detection area of ​​the radar body 21 and the edge of the machine to be less than or equal to 0.2 m. In this embodiment, a 20° inclination angle α between the connection surface between the sensor mounting portion 111 and the integrated sensor device 2 and the horizontal plane effectively reduces the impact of the housing 1 on the detection area of ​​the radar body 21, extending the detection range of the radar body 21 and significantly reducing blind spots at the edges of the machine. This in turn improves the detection efficiency of the intelligent lawn mower, facilitating enhanced navigation and obstacle avoidance accuracy for the intelligent lawn mower.

[0337] In this embodiment, the front end area of ​​the top of the housing 1 has a groove structure. The groove structure has a support surface extending obliquely downward toward the front side of the housing 1 , and the support surface is connected to the mounting plate 11 .

[0338] As shown in Figures 1 to 5, the intelligent lawn mower also includes a first sensor device heat sink 31, which is connected to the mounting plate 11 and is arranged on the side of the integrated sensor device 2. The first sensor device heat sink 31 is used to dissipate heat for the integrated sensor device 2.

[0339] Specifically, the heat generated by the integrated sensing device 2 is transferred through the mounting plate 11 and the first sensing device heat sink 31 to achieve the effect of assisting the integrated sensing device 2 in dissipating heat.

[0340] In some embodiments, the first sensor device heat sink 31 includes a plurality of first heat sinks 311 , which are spaced apart, and heat dissipation gaps are formed between the plurality of spaced apart first heat sinks 311 , thereby increasing the contact area with the air to improve the heat dissipation effect.

[0341] In this embodiment, the first sensing device heat sink 31 and the mounting plate 11 are integrally arranged. The integrally arranged first sensing device heat sink 31 and the mounting plate 11 are conducive to heat transfer, and also enhance the overall strength of the first sensing device heat sink 31 and the mounting plate 11, which is conducive to improving durability.

[0342] For example, the first sensor device heat sink 31 and the mounting plate 11 may be an integral aluminum casting, which can improve the heat dissipation effect and simplify the overall structure and assembly.

[0343] As shown in Figures 1 to 9, the mounting plate 11 is a heat-conducting plate, and the intelligent lawn mower also includes a sensor device heat-conducting member 6, which is arranged between the integrated sensor device 2 and the mounting plate 11. The sensor device heat-conducting member 6 is used to conduct the heat of the integrated sensor device 2 to the mounting plate 11, and then from the mounting plate 11 to the first sensor device heat sink 31.

[0344] In some embodiments, the smart lawn mower further includes a sensor device shock absorber 7, which is disposed between the integrated sensor device 2 and the mounting plate 11. In this way, the sensor device shock absorber 7 can dampen the integrated sensor device 2, thereby reducing the overall vibration and noise of the smart lawn mower.

[0345] In some embodiments, the sensor device shock absorber 7 is provided with a mounting hole 71 that matches the sensor device heat conductor 6. The mounting hole 71 is provided through the sensor device shock absorber 7, and at least a portion of the sensor device heat conductor 6 is disposed within the mounting hole 71. This improves the compactness of the structure. The sensor device heat conductor 6 is a thermally conductive silicone column or a thermally conductive silicone pad.

[0346] Specifically, the sensor device shock absorber 7 is elastically connected between the integrated sensor device 2 and the mounting plate 11; the sensor device shock absorber 7 is used to buffer the vibration force of the integrated sensor device 2 to achieve the function of reducing noise. The sensor device shock absorber 7 has the function of protecting the integrated sensor device 2 and reducing noise, effectively improving the installation stability of the integrated sensor device 2.

[0347] The front end area of ​​the top of the housing 1 provides a groove structure for installing the integrated sensor device 2 , and the groove structure provides a support surface that cooperates with the mounting plate 11 to position the integrated sensor device 2 by positioning the mounting plate 11 .

[0348] In some embodiments, the interior of the groove structure has a first mounting portion, and the housing 1 has a second mounting portion. In a specific implementation of this embodiment, the mounting plate 11 is snap-connected with the first mounting portion and the second mounting portion for positioning and installation by snap-connection. Specifically, the first mounting portion and the second mounting portion can be one of a clip and a slot, and the mounting plate 11 is provided with the other of the clip and the slot at the corresponding position.

[0349] In another specific implementation of this embodiment, the intelligent lawn mower further includes a fastener, and the mounting plate 11 is connected to the second mounting portion and the second mounting portion via the fastener, and the mounting plate 11 is fixed via the fastener, such as a screw.

[0350] In this embodiment, the first mounting portion is arranged on the bottom surface of the groove, and the mounting plate 11 has a first plate section, an inclined plate section and a second plate section connected in sequence. The first plate section abuts against the bottom surface of the groove and is connected to the first mounting portion, the inclined plate section abuts against the support surface, and the second plate section abuts against the casing 1 and is connected to the second mounting portion.

[0351] The mounting plate 11 with a three-section structure is respectively fixed to the bottom surface of the slot, the supporting surface and the top surface of the housing 1 , thereby further improving the installation stability of the mounting plate 11 .

[0352] It should be noted that the top of the casing 1 of this embodiment has a front end area and a rear end area, wherein the front end area and the rear end area are relatively arranged along the moving direction of the smart lawn mower, and the front end area is the area on the side of the forward direction when the smart lawn mower is in working state.

[0353] In this embodiment, the intelligent lawn mower also includes a cover plate 4, which is covered on the support member. A sensor device accommodating space is formed between the cover plate 4 and the support member. The integrated sensor device 2 is at least partially accommodated in the sensor device accommodating space. The cover plate 4 has a through opening 41, and the integrated sensor device 2 is exposed through the through opening 41.

[0354] Among them, the intelligent lawn mower also includes an annular sleeve 5, which is fixedly connected to the cover plate 4 at the through opening 41. The annular sleeve 5 is provided with a sensor device extension opening 51 matching the integrated sensor device 2, and the integrated sensor device 2 at least partially extends outward from the sensor device extension opening 51.

[0355] In some embodiments, the annular sleeve 5 is positioned at the through-hole 41 and abuts against the outer circumference of the integrated sensing device 2. The annular sleeve 5 has at least one first heat dissipation vent 52, which connects the sensing device housing space with the external space to dissipate heat from the integrated sensing device 2. The first heat dissipation vent 52 is arranged along the circumference of the annular sleeve 5 to form an arc-shaped heat dissipation vent structure. The annular sleeve 5 serves both a protective and decorative purpose.

[0356] In some embodiments, the first heat dissipation opening 52 is at least one of a notch structure and a heat dissipation hole. In this way, the structure of the first heat dissipation opening 52 can be adjusted according to the overall layout of the smart lawn mower to maximize heat dissipation efficiency.

[0357] In some embodiments, the first heat dissipation opening 52 may be a notch structure. The notch structure may be provided on the outer circumference of the annular sleeve 5 as shown in FIG. 10 , or may be provided on the inner circumference of the annular sleeve 5 .

[0358] In other embodiments, the first heat dissipation opening 52 may be a heat dissipation hole provided through one or more annular sleeves 5 .

[0359] In some other embodiments, the first heat dissipation opening 52 may be a combination of a notch structure and a heat dissipation hole.

[0360] It should be noted that the specific shape and number of the notch structure and the heat dissipation holes on the annular sleeve 5 depend on the actual heat dissipation requirements and design space, and this application does not limit the specific shape and number of the notch structure and the heat dissipation holes.

[0361] In particular, when the lawn mower is in motion, the surrounding air will flow, and the airflow can flow into the interior of the first heat dissipation opening 52 to accelerate heat dissipation and improve the heat dissipation effect.

[0362] More particularly, the annular sleeve 5 and the laser radar are both arranged at the front end area of ​​the top of the housing 1 of the intelligent lawn mower, so that the wind energy brought by the movement of the lawn mower can better take away the heat in the sensor device accommodating space through the first heat dissipation port 52.

[0363] In some embodiments, a heat dissipation gap may be formed between the cover plate 4 and the support member to remove heat from the integrated sensor device 2 when air flows through the gap, thereby dissipating heat.

[0364] In this embodiment, at least one second heat dissipation opening 42 is provided between the cover plate 4 and the support member. The second heat dissipation opening 42 can connect the sensor device accommodating space and the external space to discharge the heat of the integrated sensor device 2 .

[0365] In some embodiments, the support member has a second heat dissipation opening 42, which is a long strip-shaped hole structure to facilitate ventilation and heat dissipation when the smart lawn mower is in operation. The second heat dissipation opening 42 can be set on the front side of the support member to improve the heat dissipation effect.

[0366] In this embodiment, the intelligent lawn mower comprises a housing 1, and the support member is the housing 1 of the intelligent lawn mower. It should be noted that the support member may also be a mounting structure provided on the housing 1, through which the integrated sensor device 2 is mounted on the housing 1. Further explanation is provided that the integrated sensor device 2 may be mounted directly on the housing 1 or via a supporting member.

[0367] The casing 1 in this embodiment includes a front cover and a rear cover that are relatively arranged, a first side cover and a second side cover that are relatively arranged, and a top cover connected to the rear cover, the first side cover and the second side cover. The front cover is connected to the top cover through a mounting plate 11. The front cover, the mounting plate 11, the rear cover, the first side cover, the second side cover, and the top cover form a closed cavity, and the integrated sensing device 2 is arranged outside the closed cavity.

[0368] In this embodiment, the integrated sensing device 2 is a laser radar. The laser radar emits a laser beam toward the target, and then compares the received signal reflected from the target with the transmitted signal. After appropriate processing, it can obtain relevant information about the target, such as target distance, direction, altitude and other parameters, thereby detecting, tracking and identifying the target. During the operation of the lawn mower, it is necessary to accurately detect the terrain in front of the machine to prevent the lawn mower from causing damage or harm to the surrounding environment. In this embodiment, by tilting a laser radar at the front of the housing 1, the angle of the laser beam emitted by the laser radar can be changed, the perception range of the environment in front of the lawn mower machine is increased, the detection blind area is reduced, and the terrain can be detected and mapped in real time, thereby avoiding obstacles and performing precise operations.

[0369] In this embodiment, the integrated sensing device 2 can be positioned at least partially protruding from the housing 1, so that navigation, obstacle avoidance and weather detection can be better performed, such as facilitating the integrated sensing device 2 to perform obstacle avoidance detection toward the front and surrounding sides of the housing 1, and also facilitating the integrated sensing device 2 to detect the weather, such as rain detection.

[0370] In some specific embodiments, the integrated sensing device 2 is disposed on the housing 1 .

[0371] Of course, in a specific embodiment not shown in the figure, the integrated sensing device 2 can also be placed in a transparent cover to protect the integrated sensing device 2 through the transparent cover, and the setting of the transparent cover does not affect the obstacle avoidance detection, navigation and weather detection of the integrated sensing device 2.

[0372] As shown in Figures 1 and 2, the integrated sensing device 2 is arranged at a front end region of the top of the support at an angle to the horizontal plane.

[0373] The supporting member is a housing 1 , and the integrated sensor device 2 is arranged at a front end area of ​​the top of the housing 1 at an angle to a horizontal plane.

[0374] Specifically, the integrated sensor device 2 is tilted relative to the horizontal plane on the housing 1, thereby minimizing the blind spot at the front of the intelligent lawn mower. It should be noted that the integrated sensor device 2 is positioned at the front area of ​​the top of the housing 1 to enable environmental monitoring of the area in the direction of the intelligent lawn mower's movement.

[0375] As shown in Figures 1 to 9, in order to reduce the blind spot, the laser radar in this embodiment includes a radar body 21, and the horizontal distance L between the laser emitting part of the radar body 21 and the front end of the intelligent lawn mower along the travel direction is greater than or equal to 30 mm.

[0376] It should be noted that the closer the laser emitting part of the radar body 21 is to the front end of the smart lawn mower along the direction of travel, the larger the blind spot of the machine will be. Therefore, the horizontal distance L between the laser emitting part of the radar body 21 and the front end of the smart lawn mower along the direction of travel needs to be controlled within a range greater than 30 mm.

[0377] Preferably, the horizontal distance L between the laser emitting portion of the radar body 21 and the front end of the intelligent lawn mower along the direction of travel is 35 mm. Preferably, the horizontal distance L between the laser emitting portion of the radar body 21 and the front end of the intelligent lawn mower along the direction of travel is 38 mm. Preferably, the horizontal distance L between the laser emitting portion of the radar body 21 and the front end of the intelligent lawn mower along the direction of travel is 40 mm. The horizontal distance L between the laser emitting portion of the radar body 21 and the front end of the intelligent lawn mower along the direction of travel is not limited to the listed values, and other values ​​within the numerical range not listed are also applicable.

[0378] In some embodiments, when the remaining parameters are determined, if the horizontal distance L between the radar body 21 and the front end of the intelligent lawn mower along its travel direction is set within a range of 40 mm to 180 mm, the distance between the radar body 21's detection area and the edge of the machine can be controlled to be less than or equal to 0.2 m. When the horizontal distance L between the radar body 21 and the front end of the intelligent lawn mower along its travel direction is set within a range of 40 mm to 180 mm, the impact of the housing 1 on the radar body 21's detection area is effectively reduced, the radar body 21 has a wider detection range, and the blind spot at the edge of the machine is significantly reduced, thereby improving the intelligent lawn mower's detection efficiency and facilitating the improvement of the intelligent lawn mower's navigation and obstacle avoidance accuracy.

[0379] As shown in Figure 2, the supporting member of this embodiment is the casing 1. Along the width direction of the supporting member, that is, along the width direction of the casing 1, the casing 1 has a first end side and a second end side that are relatively arranged, the first side cover has a first end side, and the second side cover has a second end side; since the width of the lawn mower body will affect the detection range of the laser radar, when the distance W between the front end of the first end side and the front end of the second end side along the width direction of the casing 1 is less than or equal to 600 mm, it can prevent the laser radar arranged on the mounting plate 11 from being unable to detect the environment and terrain on both sides of the body.

[0380] In this embodiment, the integrated sensor device 2 is disposed at a front region of the top of the housing 1 at an angle to the horizontal plane.

[0381] In some embodiments, the laser radar further includes a second sensor device heat sink 22 , which is disposed on the peripheral side of the laser radar and is used to dissipate heat for the laser radar.

[0382] In this embodiment, the second sensor device heat sink 22 serves as the heat sink of the laser radar itself. The second sensor device heat sink 22 includes a plurality of second heat sinks 221. The plurality of second heat sinks 221 are arranged at intervals. The design of the second heat sinks 221 can dissipate the heat generated by the laser radar.

[0383] In the embodiment of the present application, only one integrated sensor device 2 is provided, and the integrated sensor device 2 is provided at the front end area of ​​the top of the intelligent lawn mower along the traveling direction.

[0384] In this embodiment, the laser radar may be a semi-solid laser radar, and specifically, the laser radar may be a 3D laser radar.

[0385] The integrated sensing device 2 is a laser radar, and the horizontal field of view angle of the laser radar is greater than or equal to 180°, and the vertical field of view angle is greater than or equal to 30°.

[0386] As shown in FIG1 and FIG8 , the horizontal field of view angle A of the laser radar in this embodiment is 360°, and the vertical field of view angle B is greater than or equal to 30°.

[0387] Preferably, the vertical field of view angle of the laser radar is 40°, preferably, the vertical field of view angle of the laser radar is 50°, and preferably, the vertical field of view angle of the laser radar is 59°. The vertical field of view angle of the laser radar is not limited to the values ​​listed, and other values ​​not listed within the numerical range are also applicable.

[0388] It should be noted that the larger the vertical field of view angle, the larger the detectable range of the laser radar, the smaller the distance between the detectable area of ​​the laser radar and the edge of the machine, and the smaller the blind spot. When using a laser radar with a vertical field of view angle greater than or equal to 30° and the installation position on the lawn mower is determined by the aforementioned parameters, the detection range can be increased while reducing the distance between the laser radar detection range and its edge, thereby achieving the technical effect of reducing the blind spot.

[0389] In some embodiments, the lawn mower can detect and map the terrain in real time by setting up an integrated sensor device 2, thereby avoiding obstacles and operating accurately, making the operation of the lawn mower more stable and safe. In addition, the field of view of the integrated sensor device 2 set in this application can see the nearest points of the front end, left end and right end of the machine, further improving the safety of the operation of the lawn mower.

[0390] In the embodiment of the present application, the intelligent lawn mower does not include other sensors for navigation, obstacle avoidance and weather detection. The present application only needs to set up an integrated sensor device 2 to realize the functions of navigation, obstacle avoidance and weather detection.

[0391] Specifically, the smart lawn mower does not include any other sensors for navigation;

[0392] Specifically, the smart lawn mower does not include any other sensors for obstacle avoidance;

[0393] Specifically, the smart lawn mower does not include any other sensors for weather detection;

[0394] As shown in Figures 2 to 8 , the center of the laser radar in this embodiment is located on the widthwise midline of the housing 1. As will be appreciated, since the lawn mower's housing 1 is symmetrically designed along its width, positioning the laser radar on the widthwise midline facilitates accurate detection of the left and right ends of the front of the machine and facilitates obstacle avoidance within the lawn mower.

[0395] The laser radar is not limited to the setting structure in the above embodiment. The center of the laser radar can also be located beside the center line of the width direction of the casing 1. The technical effect of detecting the terrain and avoiding obstacles can also be achieved by using an inclined laser radar.

[0396] In some more specific embodiments, there is only one integrated sensing device 2 for navigation, obstacle avoidance and weather detection of the intelligent lawn mower, that is, there is only one integrated sensing device 2 integrating multiple functions of navigation, obstacle avoidance and weather detection, and it is a 3D laser radar. The 3D laser radar is arranged on the center line of the width direction of the casing 1, and the 3D laser radar is arranged in the front end area of ​​the top of the casing 1. The horizontal field of view angle of the 3D laser radar is 360°, and the vertical field of view angle is 50°.

[0397] The lawn mower of the present application is provided with only one integrated sensor device 2 on its casing 1. By providing one integrated sensor device 2, the functions of navigation, obstacle avoidance and weather detection are realized, thereby simplifying the hardware structure. At the same time, it also overcomes the problem of complex control system caused by the use of multiple external sensors in the prior art. The present application only uses one integrated sensor device 2, which saves costs and improves the product experience.

[0398] The lawn mower of the present application is equipped with an integrated sensor device 2, which can detect and map the terrain in real time, thereby avoiding obstacles and operating accurately, making the operation of the lawn mower more stable and safe. In addition, the field of view of the integrated sensor device 2 of the present application can see the nearest points of the front end, left end and right end of the machine, further improving the safety of the operation of the lawn mower.

[0399] Example 2

[0400] The difference between Example 2 and Example 1 lies in the integrated sensing device 2. The similarities with Example 1 will not be repeated here. The differences between Example 2 and Example 1 are described as follows. Please refer to Figures 42-47:

[0401] In embodiment 2, there are two integrated sensing devices 2 .

[0402] Specifically, one integrated sensor device 2 is disposed at the front end of the intelligent lawn mower along the direction of travel, and the other integrated sensor device 2 is disposed at the front end, side end, or rear end of the intelligent lawn mower. The other integrated sensor device 2 can be disposed at one of the front end, side end, or rear end as needed.

[0403] In some specific embodiments, the integrated sensing device 2 is a 2D laser radar, which is a solid-state type. The 2D laser radar in this embodiment can perform at least two of navigation, obstacle avoidance, and weather detection.

[0404] In some embodiments, the horizontal field of view angle of the laser radar is greater than or equal to 80°, and the vertical field of view angle is greater than or equal to 30°.

[0405] In some embodiments, the horizontal field of view angle of the laser radar is greater than or equal to 110°, and the vertical field of view angle is greater than or equal to 30°.

[0406] In some embodiments, the lidar has a horizontal field of view of 120°.

[0407] In this embodiment, the horizontal field of view angles of the two laser radars are greater than that of a single laser radar, so as to increase the detection range by using the two laser radars and improve the detection accuracy of the smart lawn mower.

[0408] As shown in Figures 42 and 43, in some more specific embodiments, there are two integrated sensing devices 2 for navigation and obstacle avoidance of the intelligent lawn mower, that is, there are two integrated sensing devices 2 with integrated navigation and obstacle avoidance functions, and they are 2D laser radars. The two 2D laser radars are both arranged on the center line of the width direction of the casing 1, one is arranged at the front end area of ​​the top of the casing 1, and the other is arranged at the rear end area of ​​the top of the casing 1. The horizontal field of view angle of the 2D laser radar is 110°, and the vertical field of view angle is 50°.

[0409] As shown in Figures 44 and 45, in some more specific embodiments, there are two integrated sensing devices 2 for navigation and obstacle avoidance of the intelligent lawn mower, that is, there are two integrated sensing devices 2 with integrated navigation and obstacle avoidance functions, and they are 2D laser radars, one of which is arranged on the center line in the width direction of the casing 1 and is arranged in the front end area of ​​the top of the casing 1, and the other is arranged in the left area or the rear area of ​​the top of the casing 1. The horizontal field of view angle of the 2D laser radar is 110°, and the vertical field of view angle is 50°.

[0410] As shown in Figures 46 and 47, in some more specific embodiments, there are two integrated sensing devices 2 for navigation and obstacle avoidance of the intelligent lawn mower, that is, there are two integrated sensing devices 2 with integrated navigation and obstacle avoidance functions, and they are 2D laser radars. The two 2D laser radars are both arranged in the front end area of ​​the top of the casing 1, one is arranged on the left side and the other is arranged on the right side. The horizontal field of view angle of the 2D laser radar is 110°, and the vertical field of view angle is 50°.

[0411] Example 3

[0412] The difference between Example 3 and Example 1 lies in the integrated sensing device 2. The similarities with Example 1 are not repeated here. The differences between Example 3 and Example 1 are described as follows. Please refer to Figures 48-49:

[0413] In embodiment 3, the number of integrated sensing devices 2 is three.

[0414] Specifically, one integrated sensor device 2 is arranged at the front end area of ​​the intelligent lawn mower along the travel direction, and the other two integrated sensor devices 2 are arranged at the front end, side end or rear end area of ​​the intelligent lawn mower.

[0415] In this embodiment, one of the two integrated sensor devices 2 can be located at any location in the front, side, or rear region of the intelligent lawn mower, and the other integrated sensor device 2 can be located at any location in the front, side, or rear region of the intelligent lawn mower. The specific location can be adjusted adaptively as needed.

[0416] In this embodiment, the integrated sensing device 2 is a 2D laser radar, which is a solid-state type. The 2D laser radar in this embodiment can perform at least two of navigation, obstacle avoidance, and weather detection.

[0417] In some embodiments, the horizontal field of view angle of the laser radar is greater than or equal to 80°, and the vertical field of view angle is greater than or equal to 30°.

[0418] In some embodiments, the horizontal field of view angle of the laser radar is greater than or equal to 110°, and the vertical field of view angle is greater than or equal to 30°.

[0419] In some embodiments, the lidar has a horizontal field of view of 120°.

[0420] In this embodiment, the horizontal field of view angles of the three laser radars are greater than that of a single laser radar, so as to increase the detection range by using the three laser radars and improve the detection accuracy of the smart lawn mower.

[0421] As shown in Figures 48 and 49, in some more specific embodiments, the number of integrated sensing devices 2 for navigation and obstacle avoidance of the intelligent lawn mower is set to three, that is, there are three integrated sensing devices 2 with integrated navigation and obstacle avoidance functions, and they are 2D laser radars, one of which is set on the center line in the width direction of the casing 1 and is set in the front end area of ​​the top of the casing 1, another is set on the left side of the top of the casing 1, and the other is set on the right side of the top of the casing 1.

[0422] Example 4

[0423] As shown in Figures 1 to 6 and Figures 8 to 18, the intelligent lawn mower of the present application includes a support and an integrated sensing device 2. In this embodiment, the integrated sensing device 2 is a laser radar, which is arranged on the support.

[0424] As shown in Figures 1 to 6 and Figures 8 to 18, the laser radar is arranged on a support, and the intelligent lawn mower also includes a first heat dissipation device 3, which is connected to the laser radar and is used to dissipate heat for the laser radar.

[0425] Among them, the first heat dissipation device 3 is connected to the laser radar to transfer the heat generated by the laser radar when it is in working state, so as to cool down the laser radar, thereby preventing the heat generated by the laser radar when it is working from affecting the detection accuracy of the laser radar.

[0426] In some embodiments, the smart lawn mower also includes a mounting plate 11 arranged on the support member, the mounting plate 11 is connected to the first heat dissipation device 3, the mounting plate 11 has a sensor device mounting portion 111, the laser radar is installed on the sensor device mounting portion 111, and the sensor device mounting portion 111 provides a mounting surface for the laser radar to achieve the effect of positioning and installing the laser radar.

[0427] In this embodiment, the laser radar is arranged on the sensor device mounting portion 111 , and thus the laser radar is connected to the first heat dissipation device 3 through the sensor device mounting portion 111 .

[0428] As shown in Figures 1 to 6 and Figures 8 to 18, the first heat dissipation device 3 includes a first sensor device heat sink 31, which is connected to the mounting plate 11. The mounting plate 11 is also used for heat conduction to transfer the heat of the laser radar to the first sensor device heat sink 31, and then the laser radar is cooled by the first sensor device heat sink 31.

[0429] Specifically, the heat generated by the laser radar is transferred to the first sensor device heat sink 31 through the mounting plate 11 , and the first sensor device is used to dissipate the heat of the laser radar.

[0430] In some embodiments, the first sensor device heat sink 31 and the mounting plate 11 are integrally configured. This integrated configuration facilitates direct heat transfer, thereby improving thermal conductivity. It also facilitates production and processing, improving assembly efficiency. It also enhances the overall strength of the first sensor device heat sink 31 and the mounting plate 11, improving durability.

[0431] The first sensor device heat sink 31 and the mounting plate 11 are integrally formed as aluminum castings, which can improve the heat dissipation effect and simplify the overall structure and assembly.

[0432] In this embodiment, the first sensor device heat sink 31 includes a plurality of first heat sinks 311, which are spaced apart. Heat dissipation gaps are formed between the spaced apart first heat sinks 311, thereby increasing the contact area with the air and improving the heat dissipation effect.

[0433] As shown in Figures 15 to 18, the first heat dissipation device 3 also includes a third sensor device heat sink 32, which is installed on the mounting plate 11; the third sensor device heat sink 32 is connected to the laser radar, and the third sensor device heat sink 32 is used to dissipate heat for the laser radar.

[0434] Specifically, the third sensor device heat sink 32 is connected to the laser radar and the sensor device mounting part 111, thereby transferring the heat generated by the laser radar to the sensor device mounting part 111. At the same time, the third sensor device heat sink 32 itself also has the function of heat conduction and heat dissipation, which is used to cool the laser radar.

[0435] In some embodiments, the third sensor device heat sink 32 includes at least one of a graphene heat sink 321 and a heat dissipation copper tube 322 .

[0436] In an embodiment as shown in Figure 15, the heat sink 32 of the third sensor device is a graphene heat sink 321, so that the heat generated by the laser radar can be transferred and dissipated through the graphene heat sink 321, where Figure 15 is a brief schematic diagram of the installation structure of the housing 1, the laser radar, the mounting plate 11 and the third sensor device heat sink 32.

[0437] In an embodiment as shown in Figures 16 and 17, the heat sink 32 of the third sensor device is a heat dissipation copper tube 322, so as to transfer and dissipate the heat generated by the laser radar through the heat dissipation copper tube 322, wherein Figures 16 and 17 are brief schematic diagrams of the installation structure of the housing 1, the laser radar, the mounting plate 11 and the heat sink 32 of the third sensor device.

[0438] In an embodiment as shown in Figure 18, the heat sink 32 of the third sensor device is a combination of a graphene heat sink 321 and a heat dissipation copper tube 322, so as to achieve the effect of heat conduction and heat dissipation by utilizing the graphene heat sink 321 and the heat dissipation copper tube 322, wherein Figure 18 is a brief schematic diagram of the installation structure of the housing 1, the laser radar, the mounting plate 11 and the heat sink 32 of the third sensor device.

[0439] It should be noted that the heat sink 32 of the third sensor device and the laser radar can transfer heat directly or indirectly through the mounting plate 11.

[0440] As shown in FIG. 14 to FIG. 18 , the smart lawn mower further includes a second heat dissipation device 10 , which is disposed beside the laser radar and is used for air cooling the laser radar.

[0441] 14 to 18 are schematic diagrams showing the installation structure of the housing 1 , the laser radar, the mounting plate 11 , the second heat sink 10 and the heat sink 32 of the third sensor device.

[0442] Specifically, the second heat dissipation device 10 uses air cooling to cool the laser radar. The second heat dissipation device 10 can be a fan, which provides a heat dissipation air source for the laser radar.

[0443] In some embodiments, referring to Figures 16 to 18, in order to further improve the heat dissipation efficiency, an auxiliary heat dissipation plate 9 can be provided on the side of the mounting plate 11, and the auxiliary heat dissipation plate 9 can be connected to the heat dissipation element of the first heat dissipation sensor device through the heat dissipation element 32 of the third sensor device to further improve the heat dissipation effect.

[0444] The auxiliary heat sink 9 is mounted on the support member, and the auxiliary heat sink 9 is provided with heat dissipation fins to enhance the heat dissipation effect through the heat dissipation fins.

[0445] In this embodiment, as shown in Figure 15, the third sensing device heat sink 32 can be arranged on the side close to the second heat sink 10, and preferably the third sensing device heat sink 32 is a graphene heat sink 321; it can also be arranged on the side away from the second heat sink 10 as shown in Figures 16 and 17, and preferably the third sensing device heat sink 32 is a heat dissipation copper tube 322; it can also be arranged on both the side close to the second heat sink 10 and the side away from the second heat sink 10 as shown in Figure 18.

[0446] As shown in Figures 5, 6 and 12, the intelligent lawn mower also includes a sensor device heat conductor 6, which is connected to the laser radar and the first heat dissipation device 3 respectively. The sensor device heat conductor 6 is used to conduct the heat of the laser radar to the first heat dissipation device 3.

[0447] Specifically, the heat conductor 6 of the sensing device abuts against the laser radar and the mounting plate 11 respectively, thereby conducting the heat generated by the laser radar to the mounting plate 11, and the heat of the mounting plate 11 is conducted to the first heat dissipation device 3, and the heat is dissipated through the multiple first heat sinks 311 of the first heat dissipation device 3.

[0448] It should be noted that the heat conducting member 6 of the sensing device and the first heat dissipation device 3 can be indirectly connected through the mounting plate 11 , and the heat of the laser radar is transferred to the first heat dissipation device 3 through the heat conducting member 6 of the sensing device and the mounting plate 11 .

[0449] The heat conducting component 6 of the sensing device is a heat conducting silicone column or a heat conducting silicone pad.

[0450] In this embodiment, in order to improve the installation stability of the sensor device heat conductor 6, a sensor device shock absorber 7 can be arranged between the laser radar and the mounting plate 11. The sensor device shock absorber 7 is provided with a mounting hole 71 matching the sensor device heat conductor 6. The mounting hole 71 passes through the sensor device shock absorber 7, and the sensor device heat conductor 6 is at least partially arranged in the mounting hole 71.

[0451] As shown in Figures 1 to 3 and Figures 8 to 11, the casing 1 in this embodiment includes a front cover and a rear cover that are relatively arranged, a first side cover and a second side cover that are relatively arranged, and a top cover connected to the rear cover, the first side cover and the second side cover. The front cover is connected to the top cover through a mounting plate 11. The front cover, the mounting plate 11, the rear cover, the first side cover, the second side cover, and the top cover enclose a closed cavity, and the laser radar is arranged outside the closed cavity.

[0452] As shown in Figures 8 to 10, the smart lawn mower also includes a cover plate 4, which is provided on the support member. A sensor device accommodating space is formed between the cover plate 4 and the support member. The laser radar is at least partially accommodated in the sensor device accommodating space. The cover plate 4 has a through opening 41, and at least a portion of the laser radar extends outward from the through opening 41.

[0453] Specifically, a portion of the laser radar is accommodated in the sensor device accommodation space, and the other portion extends from the through-hole 41 , and the extended portion emits laser light to the environment to achieve environmental sensing detection.

[0454] In some embodiments, referring to FIG. 8 to FIG. 10 , there is at least one second heat dissipation vent 42 between the cover plate 4 and the support member. The second heat dissipation vent 42 can connect the sensor device accommodating space and the external space to discharge the heat of the laser radar.

[0455] In some embodiments, the second heat dissipation opening 42 is a long strip-shaped hole structure to facilitate ventilation and heat dissipation when the smart lawn mower is in operation. The second heat dissipation opening 42 can be arranged on the front side of the support member to improve the heat dissipation effect.

[0456] As shown in Figures 11 and 13, the support member is provided with at least one third heat dissipation port 101. The third heat dissipation port 101 can connect the sensor device housing space and the external space to dissipate heat from the laser radar. The third heat dissipation port 101 is provided at the bottom of the support member. Heat dissipation is achieved by providing the third heat dissipation port 101 at the bottom of the support member. One of the third heat dissipation ports 101 is used to install the first heat dissipation device 3, and the other third heat dissipation ports 101 are provided beside the laser radar and connected to the sensor device housing space, thereby achieving the function of the third heat dissipation port 101 to assist in dissipating heat from the laser radar.

[0457] In this embodiment, referring to Figures 11 and 13 , the first heat sink 3 at least partially extends from the third heat dissipation opening 101 to the outside space. It should be noted that a plurality of first heat sinks 311 are provided, with some first heat sinks 311 located in the sensor device accommodation space, while others extend through the third heat dissipation opening 101 and out of the sensor device accommodation space. This improves heat dissipation efficiency by allowing the first heat sinks 311 extending out of the sensor device accommodation space to come into contact with the air.

[0458] It should be noted that FIG13 in this embodiment is a schematic structural diagram of the cover plate 4, the housing 1, the first sensor device heat sink 31 of the first heat dissipation device 3 and the third heat dissipation port 101.

[0459] As shown in Figures 8 to 10, the smart lawn mower also includes an annular sleeve 5, which is fixedly connected to the cover plate 4 at the through-hole 41. The annular sleeve 5 is provided with a sensor device extension port 51 matching the laser radar, and the laser radar at least partially extends outward from the sensor device extension port 51.

[0460] In some embodiments, the annular sleeve 5 is positioned at the through-hole 41 and abuts the outer circumference of the laser radar. The annular sleeve 5 has at least one first heat dissipation vent 52, which connects the sensor housing space with the external space to dissipate heat from the laser radar. The first heat dissipation vent 52 is arranged along the circumference of the annular sleeve 5 to form an arc-shaped heat dissipation vent structure. The annular sleeve 5 serves both a protective and decorative purpose.

[0461] In some embodiments, the first heat dissipation opening 52 is at least one of a notch structure and a heat dissipation hole. In this way, the structure of the first heat dissipation opening 52 can be adjusted according to the overall layout of the smart lawn mower to maximize heat dissipation efficiency.

[0462] In some embodiments, the first heat dissipation opening 52 may be a notch structure. The notch structure may be provided on the outer circumference of the annular sleeve 5 as shown in FIG. 10 , or may be provided on the inner circumference of the annular sleeve 5 .

[0463] In other embodiments, the first heat dissipation opening 52 may be a heat dissipation hole provided through one or more annular sleeves 5 .

[0464] In some other embodiments, the first heat dissipation opening 52 may be a combination of a notch structure and a heat dissipation hole.

[0465] It should be noted that the specific shape and number of the notch structure and the heat dissipation holes on the annular sleeve 5 depend on the actual heat dissipation requirements and design space, and this application does not limit the specific shape and number of the notch structure and the heat dissipation holes.

[0466] In particular, when the lawn mower is in motion, the surrounding air will flow, and the airflow can flow into the interior of the first heat dissipation opening 52 to accelerate heat dissipation and improve the heat dissipation effect.

[0467] More particularly, the annular sleeve 5 and the laser radar are both arranged at the front end area of ​​the top of the housing 1 of the intelligent lawn mower, so that the wind energy brought by the movement of the lawn mower can better take away the heat in the sensor device accommodating space through the first heat dissipation port 52.

[0468] Similarly, preferably, the second heat dissipation port 42 is arranged at the front end area of ​​the top of the smart lawn mower. In this way, when the smart lawn mower is moving, the air flow can flow into the second heat dissipation port 42 formed between the cover plate 4 and the support member to improve the heat dissipation efficiency. Specifically, when the air flow passes through, the heat of the laser radar is taken away for heat dissipation.

[0469] In some embodiments, the heat can also flow out through a second heat dissipation port 42 formed between the cover plate 4 and the support member, so as to take away the heat of the laser radar when air flows through, thereby dissipating the heat.

[0470] As shown in Figures 6 and 12, the laser radar includes a radar body 21 and a second sensor device heat sink 22. The radar body 21 and the second sensor device heat sink 22 are fixedly connected, and the second sensor device heat sink 22 is used to dissipate heat for the radar body 21.

[0471] Specifically, the second sensor device heat sink 22 is arranged on the peripheral side of the laser radar. The second sensor device heat sink 22 is directly connected to the radar body 21 and is used to dissipate heat for the laser radar.

[0472] Among them, the second sensor device heat sink 22 serves as the heat dissipation structure of the laser radar itself. The second sensor device heat sink 22 includes multiple second heat sinks 221, and the multiple second heat sinks 221 are arranged at intervals. Through the design of the second heat sinks 221, the heat generated by the laser radar can be dissipated.

[0473] In this embodiment, the angle between the first plane where the first sensor device heat sink 31 is located and the second plane where the second sensor device heat sink 22 is located is ∠C. As shown in Figure 12, ∠C satisfies the requirement of being greater than 90° and less than or equal to 180°. The first and second planes are arranged at an obtuse angle to ensure a predetermined distance between the first and second sensor device heat sinks 31 and 22, thereby facilitating heat dissipation efficiency. Furthermore, the obtuse angle between the first and second planes creates a clearance space to facilitate the installation of the lidar.

[0474] In some embodiments, to better dissipate heat from the LiDAR, the intelligent lawn mower's heat dissipation structure includes a heat sink and a sensor device heat conductor 6. Multiple heat sinks are provided, one portion of which is a second heat sink 221, located below the radar body 21. Another portion of the heat sinks is a first heat sink 311, which is connected to the mounting plate 11. The design of the first heat sink 311 and the sensor device heat conductor 6 dissipates heat generated between the LiDAR and the mounting plate 11.

[0475] In this embodiment, the smart lawn mower comprises a housing 1, and the support member is the housing 1 of the smart lawn mower. It should be noted that the support member can also be a mounting structure provided on the housing 1, through which the laser radar is mounted on the housing 1. Further explanation is provided that the laser radar can be mounted directly on the housing 1 or via a supporting member.

[0476] In this embodiment, the laser radar emits a laser beam toward the target, then compares the received signal reflected from the target with the transmitted signal. After appropriate processing, it can obtain relevant information about the target, such as target distance, direction, altitude and other parameters, thereby detecting, tracking and identifying the target. During the operation of the lawn mower, it is necessary to accurately detect the terrain in front of the machine to prevent the lawn mower from causing damage or harm to the surrounding environment. In this embodiment, by tilting a laser radar at the front of the housing 1, the angle of the laser beam emitted by the laser radar can be changed, the perception range of the environment in front of the lawn mower machine is increased, the detection blind area is reduced, and the terrain can be detected and mapped in real time, thereby avoiding obstacles and performing precise operations.

[0477] In this embodiment, the laser radar integrates at least two of the smart lawn mower's navigation and obstacle avoidance functions, as well as its weather detection functions. Specifically, the smart lawn mower of this application has navigation and obstacle avoidance functions, which facilitates the automation of the smart lawn mower. The integration of multiple functions significantly improves the degree of automation, which in actual use helps improve work efficiency, reduce manual intervention, and enhance the user experience.

[0478] In some embodiments, the LiDAR integrates navigation and obstacle avoidance functions into the smart lawn mower. The LiDAR with navigation functions facilitates path planning and guidance of the smart lawn mower during operation, controlling its direction through navigation and improving its efficiency. The LiDAR with obstacle avoidance functions also helps prevent collisions between the smart lawn mower and obstacles, enhancing safety.

[0479] In this embodiment, only one laser radar is used to integrate the smart lawn mower's navigation and obstacle avoidance functions. This improves the laser radar's functional integration and simplifies the hardware structure. It also overcomes the control system complexity caused by the use of multiple external sensors in the prior art. Using only one laser radar saves costs and improves the product experience.

[0480] In more embodiments, the lidar can integrate the navigation function of the smart lawn mower while also integrating the positioning function.

[0481] LiDAR also integrates weather detection capabilities, enabling it to monitor the weather. This means the smart mower is used for navigation, obstacle avoidance, and weather detection. The smart mower not only provides navigation and obstacle avoidance, but also includes weather detection to adaptively adjust its operating state based on weather conditions, improving safety and efficiency.

[0482] In this embodiment, only one laser radar is provided to integrate the navigation, obstacle avoidance, and weather detection functions of the smart lawn mower.

[0483] Specifically, only one laser radar is set on the casing 1 of the lawn mower. By setting up one laser radar, the functions of navigation, obstacle avoidance and weather detection are realized, the functional integration of the laser radar is improved, the hardware structure is simplified, and the problem of complex control system caused by the use of multiple external sensors in the existing technology is overcome. This application only uses one laser radar to save costs and improve the product experience.

[0484] In some embodiments, the lawn mower can detect and map the terrain in real time by setting up a laser radar, so as to avoid obstacles and operate accurately, making the operation of the lawn mower more stable and safe. In addition, the present application sets a laser radar field of view angle to see the nearest points of the front end, left end and right end of the machine, thereby further improving the safety of the lawn mower's operation.

[0485] It should be noted that the smart lawn mower of this embodiment does not include other sensors for navigation, obstacle avoidance and weather detection. This application only needs to set up a laser radar to realize the functions of navigation, obstacle avoidance and weather detection.

[0486] In some embodiments, the smart lawn mower does not include any other sensors for navigation.

[0487] In other embodiments, the smart lawn mower does not include any other sensors for obstacle avoidance.

[0488] In other embodiments, the smart lawn mower does not include any other sensors for weather detection.

[0489] In this embodiment, the laser radar can be positioned protruding from the housing 1, so that navigation, obstacle avoidance and weather detection can be better performed. For example, it is convenient for the laser radar to perform obstacle avoidance detection toward the front and surrounding sides of the housing 1, and it is also convenient for the laser radar to detect the weather, such as rain detection.

[0490] In some specific embodiments, the laser radar is disposed on the housing 1 .

[0491] Of course, in a specific embodiment not shown in the figure, the laser radar can also be placed in a transparent cover to protect the laser radar through the transparent cover, and the setting of the transparent cover does not affect the laser radar's obstacle avoidance detection, navigation and weather detection.

[0492] As shown in FIG1 to FIG3 and FIG8 to FIG11, the laser radar is arranged at an angle at the front end area of ​​the top of the support member.

[0493] The supporting member is a housing 1 , and the laser radar is arranged at a front end area of ​​the top of the housing 1 at an angle to the horizontal plane.

[0494] Specifically, the laser radar is arranged on the housing 1 at an angle relative to the horizontal plane, so that the blind spot at the front of the smart lawn mower can be minimized. It should be noted that the laser radar is arranged at the front area of ​​the top of the housing 1 to realize environmental monitoring of the area in the direction of the smart lawn mower's movement.

[0495] In some embodiments, as shown in FIG1 , the tilt angle α between the installation plane of the laser radar and the housing 1 and the horizontal plane ranges from 10° to 60°.

[0496] Preferably, the tilt angle α between the mounting plane of the laser radar and the housing 1 and the horizontal plane is 15°. Preferably, the tilt angle α between the mounting plane of the laser radar and the housing 1 and the horizontal plane is in the range of 18°. Preferably, the tilt angle α between the mounting plane of the laser radar and the housing 1 and the horizontal plane is in the range of 28°. The range of the tilt angle α between the mounting plane of the laser radar and the housing 1 and the horizontal plane is not limited to the listed values, and other values ​​not listed within the numerical range are also applicable.

[0497] It should be noted that the mounting plate 11 may be a convex slope, a concave slope, an irregular slope, or an inclined plane, etc. Since the laser radar is fixedly mounted on the mounting plate 11, the laser radar is also tilted. When the tilt angle α between the mounting plane of the laser radar and the horizontal plane is too small, the distance between the detection range of the laser radar and the edge of the fuselage is large, and the blind spot formed is also large; when the tilt angle α between the mounting plane of the laser radar and the housing 1 and the horizontal plane is too large, the laser radar cannot detect the side and rear of the lawn mower, which is not conducive to obstacle avoidance.

[0498] In some embodiments, when the remaining parameters are determined, a 20° tilt angle α between the mounting plane of the laser radar and the housing 1 and the horizontal plane facilitates controlling the distance between the detection area of ​​the radar body 21 and the edge of the machine to be less than or equal to 0.2 m. A 20° tilt angle α between the mounting plane of the laser radar and the housing 1 and the horizontal plane effectively reduces the impact of the housing 1 on the detection area of ​​the radar body 21, extending the detection range of the radar body 21 and significantly reducing blind spots at the edges of the machine. This in turn improves the detection efficiency of the intelligent lawn mower, facilitating enhanced navigation and obstacle avoidance accuracy for the intelligent lawn mower.

[0499] In this embodiment, the front end area of ​​the top of the casing 1 has a groove structure, and the groove structure has a support surface extending downwardly along the front side of the casing 1. The smart lawn mower also includes a mounting plate 11, and the mounting plate 11 is installed in the front end area of ​​the top of the casing 1. Along the travel direction of the smart lawn mower, the rear end of the mounting plate 11 is higher than the front end of the mounting plate 11. The laser radar is installed on the mounting plate 11, and the support surface is connected to the mounting plate 11.

[0500] In some embodiments, the smart lawn mower further includes a shock-absorbing pad disposed between the laser radar and the mounting plate 11. The shock-absorbing pad is mounted to the mounting plate 11 using fasteners such as screws and bolts. The shock-absorbing pad is used to cushion the vibration of the laser radar to reduce noise. The shock-absorbing pad protects the laser radar and reduces noise, effectively improving the stability of the laser radar installation.

[0501] Among them, the front end area of ​​the top of the housing 1 provides a groove structure for installing the laser radar, and the groove structure improves the supporting surface that cooperates with the mounting plate 11 to position the laser radar by positioning the mounting plate 11.

[0502] In some embodiments, the interior of the groove structure has a first mounting portion, and the housing 1 has a second mounting portion. In a specific implementation of this embodiment, the mounting plate 11 is snap-connected with the first mounting portion and the second mounting portion for positioning and installation by snap-connection. Specifically, the first mounting portion and the second mounting portion can be one of a clip and a slot, and the mounting plate 11 is provided with the other of the clip and the slot at the corresponding position.

[0503] In another specific implementation of this embodiment, the intelligent lawn mower further includes a fastener, and the mounting plate 11 is connected to the second mounting portion and the second mounting portion via the fastener, and the mounting plate 11 is fixed via the fastener, such as a screw.

[0504] In this embodiment, the first mounting portion is arranged on the bottom surface of the groove, and the mounting plate 11 has a first plate section, an inclined plate section and a second plate section connected in sequence. The first plate section abuts against the bottom surface of the groove and is connected to the first mounting portion, the inclined plate section abuts against the support surface, and the second plate section abuts against the casing 1 and is connected to the second mounting portion.

[0505] The mounting plate 11 with a three-section structure is respectively fixed to the bottom surface of the slot, the supporting surface and the top surface of the housing 1 , thereby further improving the installation stability of the mounting plate 11 .

[0506] It should be noted that the top of the casing 1 of this embodiment has a front end area and a rear end area, wherein the front end area and the rear end area are relatively arranged along the moving direction of the smart lawn mower, and the front end area is the area on the side of the forward direction when the smart lawn mower is in working state.

[0507] As shown in Figures 1-3 and 8-11, the center of the laser radar in this embodiment is located on the widthwise midline of the support. As will be appreciated, since the lawn mower's support is designed to be symmetrical along its width, positioning the laser radar on the widthwise midline of the support, which is the housing 1, facilitates accurate detection of the left and right ends of the front of the machine and facilitates obstacle avoidance within the lawn mower.

[0508] In a specific embodiment not shown in the figure, the center of the laser radar is located beside the center line of the width direction of the housing 1, which can also achieve the technical effect of detecting terrain and avoiding obstacles by using the tilted laser radar.

[0509] As shown in FIG1 , in order to reduce the blind spot, the laser radar in this embodiment includes a radar body 21 , and a horizontal distance L between the laser emitting portion of the radar body 21 and the front end of the housing 1 is greater than or equal to 30 mm.

[0510] It should be noted that the closer the laser emitting part of the radar body 21 is to the front end of the casing 1, the larger the blind spot of the machine will be. Therefore, the horizontal distance L between the laser emitting part of the radar body 21 and the front end of the casing 1 needs to be controlled within a range greater than 30 mm.

[0511] Preferably, the horizontal distance L between the laser emitting portion of the radar body 21 and the front end of the housing 1 is 35 mm. Preferably, the horizontal distance L between the laser emitting portion of the radar body 21 and the front end of the housing 1 is 38 mm. Preferably, the horizontal distance L between the laser emitting portion of the radar body 21 and the front end of the housing 1 is 40 mm. The horizontal distance L between the laser emitting portion of the radar body 21 and the front end of the housing 1 is not limited to the listed values, and other values ​​within the numerical range not listed are also applicable.

[0512] In some embodiments, when the remaining parameters are determined, if the horizontal distance L between the radar body 21 and the front end of the housing 1 is set within the range of 40 mm to 180 mm, the distance between the radar body 21's detection area and the edge of the machine can be controlled to be less than or equal to 0.2 m. When the horizontal distance L between the radar body 21 and the front end of the housing 1 is set within the range of 40 mm to 180 mm, the impact of the housing 1 on the radar body 21's detection area is effectively reduced, the radar body 21's detection range is expanded, and the blind spot at the edge of the machine is greatly reduced, thereby improving the detection efficiency of the intelligent lawn mower and facilitating the improvement of the intelligent lawn mower's navigation and obstacle avoidance accuracy.

[0513] As shown in Figure 2, since the width of the lawn mower body will affect the detection range of the laser radar, when the distance W between the front end of the first side cover and the front end of the second side cover along the width direction of the casing 1 is less than or equal to 600 mm, it can prevent the laser radar installed on the mounting plate 11 from being unable to detect the environment and terrain on both sides of the body.

[0514] In this embodiment, as shown in FIG8 , the horizontal field of view angle A of the laser radar is 360°, and as shown in FIG1 , the vertical field of view angle B is greater than or equal to 30°.

[0515] Preferably, the vertical field of view angle of the laser radar is 40°, preferably, the vertical field of view angle of the laser radar is 50°, and preferably, the vertical field of view angle of the laser radar is 59°. The vertical field of view angle of the laser radar is not limited to the values ​​listed, and other values ​​not listed within the numerical range are also applicable.

[0516] It should be noted that the larger the vertical field of view angle, the larger the detectable range of the laser radar, the smaller the distance between the detectable area of ​​the laser radar and the edge of the machine, and the smaller the blind spot. When using a laser radar with a vertical field of view angle greater than or equal to 30° and the installation position on the lawn mower is determined by the aforementioned parameters, the detection range can be increased while reducing the distance between the laser radar detection range and its edge, thereby achieving the technical effect of reducing the blind spot.

[0517] It can be seen from the above technical solutions that this application has the following beneficial effects:

[0518] The intelligent lawn mower of the present application includes a first heat dissipation device 3 for cooling the laser radar, thereby achieving heat dissipation of the laser radar and preventing the heat generated during operation of the laser radar from affecting the detection accuracy of the laser radar.

[0519] The intelligent lawn mower of the present application is only provided with one laser radar on its casing 1. By providing one laser radar, the functions of navigation, obstacle avoidance and weather detection are realized, which simplifies the hardware structure. At the same time, it also overcomes the problem of complex control system caused by the use of multiple external sensors in the prior art. The present application only uses one laser radar, which saves costs and improves the product experience.

[0520] The intelligent lawn mower of the present application can detect and map the terrain in real time by setting up a laser radar, so as to avoid obstacles and operate accurately, making the operation of the lawn mower more stable and safe. In addition, the field of view of the present application is set to a laser radar, which can see the nearest points of the front end, left end and right end of the machine, thereby further improving the safety of the operation of the lawn mower.

[0521] Example 5

[0522] As shown in Figures 1 and 2, Figures 4 to 6, Figures 8 to 10, and Figures 19 and 20, the intelligent lawn mower of the present application includes an integrated sensing device 2, which is a laser radar. The intelligent lawn mower also includes a support member and a sensor device shock absorber 7. The sensor device shock absorber 7 is respectively connected to the laser radar and the support member. The laser radar is at least partially disposed above the support member. The sensor device shock absorber 7 is used to reduce vibration of the laser radar.

[0523] Specifically, by arranging a sensor device shock absorber 7 between the support and the laser radar, the laser radar can be damped to avoid the problem of poor detection accuracy due to vibration during the use of the laser radar, and at the same time, the vibration and noise problems of the whole machine caused by the laser radar can also be avoided.

[0524] In some embodiments, the sensor device shock absorber 7 is arranged between the laser radar and the support member, so that the vibration generated by the laser radar in the working state is directly transmitted to the sensor device shock absorber 7. The sensor device shock absorber 7 is used to dampen the laser radar.

[0525] In this embodiment, the sensor device shock absorber 7 is connected to the laser radar and the support member. Since the radar is connected to the sensor device shock absorber 7, the vibration generated during the operation of the laser radar is transmitted to the sensor device shock absorber 7, thereby achieving a vibration reduction effect. The sensor device shock absorber 7 is connected to the support member to achieve the installation and fixation of the sensor device shock absorber 7.

[0526] Among them, the sensor device shock absorber 7 includes a first shock absorber body 701, a first connecting member 702 and a second connecting member 703. The first connecting member 702 is arranged on the first shock absorber body 701, and the first shock absorber body 701 is connected to the laser radar through the first connecting member 702. The second connecting member 703 is arranged on the first shock absorber body 701, and the first shock absorber body 701 is connected to the support member through the second connecting member 703.

[0527] It should be noted that the first shock-absorbing body 701 is used for shock absorption, the first connecting member 702 is used for connection with the laser radar, and the second connecting member 703 is used for connection with the support member.

[0528] In some embodiments, the first connecting member 702 is a nut, a screw, a light hole connecting member or an adhesive member, and the specific method is based on whether it can achieve the connection between the first connecting member 702 and the laser radar.

[0529] In some embodiments, the second connecting member 703 is a nut, a screw, a hole connecting member or an adhesive member, and the specific method is based on whether it can achieve the connection between the second connecting member 703 and the support member.

[0530] In some embodiments, the first connecting member 702 is a first insert, embedded in the first shock-absorbing body 701; the first connecting member 702 and the first shock-absorbing body 701 are integrally formed. The first connecting member 702 and the first shock-absorbing body 701 are integrally molded using a mold. The integrated first connecting member 702 and the shock-absorbing body improve the connection strength between the first connecting member 702 and the shock-absorbing body, thereby enhancing the stability of the sensor device shock-absorbing member 7 during installation. Furthermore, the integrated first connecting member 702 and the shock-absorbing body also improve assembly efficiency.

[0531] In some embodiments, the second connecting member 703 is a second insert embedded in the first shock-absorbing body 701; the first connecting member 702, the second connecting member 703, and the first shock-absorbing body 701 are integrally formed. The second connecting member 703 and the first shock-absorbing body 701 are integrally molded using a mold. The integrated second connecting member 703 and the first shock-absorbing body 701 enhance the connection strength between the second connecting member 703 and the first shock-absorbing body 701, thereby improving the stability of the sensor device shock-absorbing member 7 during installation. Furthermore, the integrated second connecting member 703 and the first shock-absorbing body 701 also enhance assembly efficiency.

[0532] As shown in FIG5 , FIG6 and FIG20 , the first shock-absorbing body 701 is a shock-absorbing pad, and the laser radar achieves shock absorption through the shock-absorbing pad.

[0533] Specifically, the shock-absorbing pad is arranged between the laser radar and the support member to achieve the shock-absorbing effect of the laser radar.

[0534] In some embodiments, the thickness of the shock-absorbing pad is 5-7 mm; when the thickness of the shock-absorbing pad is less than 5 mm, the shock-absorbing effect is not obvious, and when the thickness of the shock-absorbing pad is greater than 7 mm, the shock-absorbing pad has space limitations and is inconvenient to install and wastes materials.

[0535] In this embodiment, the smart lawn mower includes a housing 1, and the shock-absorbing pad is a special-shaped shock-absorbing pad (not shown). Along the moving direction of the smart lawn mower, the thickness of the rear end of the special-shaped shock-absorbing pad is greater than the thickness of the front end of the special-shaped shock-absorbing pad, so that along the moving direction of the smart lawn mower, the rear end of the laser radar is higher than the front end of the laser radar.

[0536] Among them, when installing the laser radar, the rear end of the laser radar is made higher than the front end of the laser radar through the use of special-shaped shock-absorbing pads with varying thickness, so that the laser radar maintains a preset installation position, which facilitates the laser radar to perform environmental detection, including navigation, obstacle avoidance and weather detection.

[0537] Of course, the shock-absorbing pad is not limited to being a special-shaped shock-absorbing pad. The support member can also provide a supporting surface for the laser radar with a rear end height greater than the front end height along the travel direction of the smart lawn mower, so that after the laser radar is installed, the rear end of the laser radar is higher than the front end of the laser radar.

[0538] In some embodiments, the first shock absorbing body 701 is a silicone shock absorbing pad or a rubber shock absorbing pad, whichever can achieve the shock absorbing effect.

[0539] In this embodiment, as shown in FIG5 and FIG6, the first shock absorbing body 701 is an annular shock absorbing pad, which can be used to provide an installation position for the heat conducting member 6 of the sensing device to position and protect the heat conducting member 6 of the sensing device.

[0540] As shown in Figures 5, 6 and 20, the first shock-absorbing body 701 has a contact surface 7011 that contacts and cooperates with the laser radar; there are at least two first inserts and second inserts, and the first inserts and the second inserts are alternately arranged in a direction parallel to the contact surface 7011.

[0541] Specifically, the first insert and the second insert are arranged alternately, so that the force of the laser radar and the force of the supporting member applied to the shock-absorbing body are arranged alternately, so as to achieve uniform force on the shock-absorbing body, thereby improving the installation strength of the shock-absorbing body, and thus ensuring the shock-absorbing efficiency of the laser radar and the overall installation stability.

[0542] In this embodiment, preferably, as shown in FIG. 5 and FIG. 6 , four first inserts and four second inserts are provided, and the first inserts and the second inserts are alternately arranged in sequence in the circumferential direction of the annular shock-absorbing pad.

[0543] As shown in Figures 1 and 2, Figures 4 to 6, Figures 8 to 10, and Figures 19 and 20, the intelligent lawn mower also includes a mounting plate 11 arranged on the support member, the sensor device shock absorber 7 is arranged between the laser radar and the mounting plate 11, the sensor device shock absorber 7 is indirectly connected to the support member through the mounting plate 11, and the laser radar is connected to the side of the sensor device shock absorber 7 away from the mounting plate 11.

[0544] Specifically, the sensor device shock absorber 7 and the laser radar are supported by the mounting plate 11 so as to achieve positioning and installation of the sensor device shock absorber 7 and the laser radar.

[0545] It should be noted that the sensor device shock-absorbing member 7 may be indirectly connected to the support member through the mounting plate 11 , or the sensor device shock-absorbing member 7 may be directly connected to the support member.

[0546] In the embodiment of the present application, the intelligent lawn mower has a housing 1 , and the supporting member is the housing 1 of the intelligent lawn mower.

[0547] It should be noted that the sensor device shock-absorbing member 7 may be indirectly connected to the housing 1 through the mounting plate 11 , or the sensor device shock-absorbing member 7 may be directly connected to the housing 1 .

[0548] As shown in Figures 2 and 19, the mounting plate 11 is fixedly installed in the front end area of ​​the top of the casing 1. The mounting plate 11 has a sensor device mounting portion 111, and the laser radar is installed on the sensor device mounting portion 111.

[0549] Among them, along the moving direction of the smart lawn mower, the rear end of the sensor device mounting part 111 is higher than the front end of the sensor device mounting part 111, so that along the moving direction of the smart lawn mower, the rear end of the laser radar is higher than the front end of the laser radar, so as to form the sensor device mounting part 111 that is inclined relative to the horizontal plane along the moving direction of the smart lawn mower, thereby realizing that the laser radar is also in an inclined state when installed on the sensor device mounting part 111.

[0550] Specifically, the smart lawn mower has a housing 1 , the supporting member is the housing 1 of the smart lawn mower, and the laser radar is fixedly connected to the housing 1 through a mounting plate 11 , which is beneficial to enhancing the stability of the installation of the laser radar.

[0551] In some embodiments, as shown in FIG1 , the inclination angle α between the connection surface of the sensor mounting portion 111 and the laser radar and the horizontal plane is α, and the range of α is 10°-60°. Preferably, the inclination angle α between the connection surface of the sensor mounting portion 111 and the laser radar and the horizontal plane is 20°.

[0552] In some embodiments, the tilt angle α between the connection surface of the sensor device mounting portion 111 and the laser radar and the horizontal plane can be 15°, or can be in the range of 18°, or can be in the range of 28°. The range of the tilt angle α between the connection surface of the sensor device mounting portion 111 and the laser radar and the horizontal plane is not limited to the listed values, and other values ​​not listed within the numerical range are also applicable.

[0553] It should be noted that the mounting plate 11 may be a convex slope, a concave slope, an irregular slope, or an inclined plane, etc. Since the laser radar is fixedly mounted on the mounting plate 11, the laser radar is also tilted. When the tilt angle α between the connection surface of the sensor device mounting portion 111 and the laser radar and the horizontal plane is too small, the distance between the detection range of the laser radar and the edge of the fuselage is large, and the blind spot formed is also large; when the tilt angle α between the connection surface of the sensor device mounting portion 111 and the laser radar and the horizontal plane is too large, the laser radar cannot detect the side and rear of the lawn mower, which is not conducive to obstacle avoidance.

[0554] In some embodiments, when the remaining parameters are determined, a 20° tilt angle α between the connection surface between the sensor mounting portion 111 and the laser radar and the horizontal plane facilitates controlling the distance between the detection area of ​​the radar body 21 and the edge of the machine to be less than or equal to 0.2 m. In this embodiment, a 20° tilt angle α between the connection surface between the sensor mounting portion 111 and the laser radar and the horizontal plane effectively reduces the impact of the housing 1 on the detection area of ​​the radar body 21, extending the detection range of the radar body 21 and significantly reducing blind spots at the edges of the machine. This in turn improves the detection efficiency of the intelligent lawn mower, facilitating enhanced navigation and obstacle avoidance accuracy for the intelligent lawn mower.

[0555] In this embodiment, the front end area of ​​the top of the casing 1 has a groove structure, and the groove structure has a support surface extending downwardly along the front side of the casing 1. The smart lawn mower also includes a mounting plate 11, and the mounting plate 11 is installed in the front end area of ​​the top of the casing 1. Along the travel direction of the smart lawn mower, the rear end of the mounting plate 11 is higher than the front end of the mounting plate 11. The laser radar is installed on the mounting plate 11, and the support surface is connected to the mounting plate 11.

[0556] As shown in Figures 4 to 6 and 19 to 20, the intelligent lawn mower also includes a first heat sink 3, which is connected to the mounting plate 11 and disposed beside the LiDAR. Heat generated by the LiDAR is transferred through the mounting plate 11 and the first heat sink 3, thereby assisting in cooling the LiDAR.

[0557] In some embodiments, the first heat dissipation device 3 includes a plurality of first heat sinks 311 , which are arranged at intervals, wherein heat dissipation gaps are formed between the plurality of interval-arranged first heat sinks 311 , thereby increasing the contact area with the air to improve the heat dissipation effect.

[0558] In this embodiment, the first heat sink 3 and the mounting plate 11 are integrally arranged. The integrally arranged first heat sink 3 and mounting plate 11 are conducive to heat transfer, and also enhance the overall strength of the first heat sink 3 and the mounting plate 11, which is conducive to improving durability.

[0559] The first heat sink 3 and the mounting plate 11 are aluminum castings to improve the heat dissipation effect.

[0560] As shown in Figures 5, 6 and 20, the mounting plate 11 is also used for heat conduction. The smart lawn mower also includes a sensor device heat conductor 6, which is arranged between the laser radar and the mounting plate 11. The sensor device heat conductor 6 is used to conduct the heat of the laser radar to the mounting plate 11, and then from the mounting plate 11 to the first heat dissipation device 3.

[0561] In some embodiments, the first shock absorbing body 701 is provided with a mounting hole 71 matching the heat conducting member 6 of the sensing device. The mounting hole 71 is set through the first shock absorbing body 701 , and at least a portion of the heat conducting member 6 of the sensing device is set in the mounting hole 71 .

[0562] In this embodiment, a heat conductor 6 of the sensor device is placed at the mounting hole 71 of the shock-absorbing body, thereby transferring heat from the laser radar to the mounting plate 11. The mounting plate 11 transfers the heat to the first heat dissipation device 3 to achieve heat dissipation, thereby achieving the effect of cooling the laser radar.

[0563] In some embodiments, the laser radar integrates at least two of the smart lawn mower's navigation, obstacle avoidance, and weather detection functions. The smart lawn mower of the present application has at least two of these functions. This multi-functional smart lawn mower significantly improves automation, which in actual use helps improve work efficiency, reduce manual intervention, and enhance user experience.

[0564] In some embodiments, the LiDAR integrates navigation and obstacle avoidance functions into the smart lawn mower. The LiDAR with navigation functions facilitates path planning and guidance of the smart lawn mower during operation, controlling its direction through navigation and improving its efficiency. The LiDAR with obstacle avoidance functions also helps prevent collisions between the smart lawn mower and obstacles, enhancing the safety of the smart lawn mower.

[0565] In some embodiments, only one laser radar is provided for integrating the navigation and obstacle avoidance functions of the smart lawn mower. The housing 1 of the smart lawn mower of the present application is provided with only one laser radar. By providing a single laser radar for achieving navigation and obstacle avoidance functions, the hardware structure is simplified. This also overcomes the problem of complex control systems resulting from the use of multiple external sensors in the prior art. The use of only one laser radar in the present application saves costs and improves the product experience.

[0566] In more embodiments, the lidar can integrate the navigation function of the smart lawn mower while also integrating the positioning function.

[0567] In some embodiments, the lidar also integrates weather detection capabilities. Lidar can be used for weather detection; that is, the lidar is used for navigation, obstacle avoidance, and weather detection in the smart lawn mower. The smart lawn mower not only enables navigation and obstacle avoidance, but also includes weather detection capabilities to adaptively adjust its operating state based on weather conditions, thereby improving the safety and efficiency of the smart lawn mower.

[0568] Exemplarily, weather detection may include rain detection, hail detection, snow detection, sandstorm detection, fog detection, etc.

[0569] In some embodiments, only one laser radar is provided to integrate the navigation, obstacle avoidance, and weather detection functions of the smart lawn mower. The smart lawn mower of the present application is provided with only one laser radar on its housing 1. By providing a single laser radar to achieve the navigation, obstacle avoidance, and weather detection functions, the hardware structure is simplified. This also overcomes the problem of the prior art of using multiple external sensors that leads to a complex control system. The present application uses only one laser radar, which saves costs and improves the product experience.

[0570] In some embodiments, the lawn mower can detect and map the terrain in real time by setting up a laser radar, so as to avoid obstacles and operate accurately, making the operation of the lawn mower more stable and safe. In addition, the present application sets a laser radar field of view angle to see the nearest points of the front end, left end and right end of the machine, thereby further improving the safety of the lawn mower's operation.

[0571] It should be noted that the smart lawn mower of this embodiment does not include other sensors for navigation, obstacle avoidance and weather detection. This application only needs to set up a laser radar to realize the functions of navigation, obstacle avoidance and weather detection.

[0572] In some embodiments, the smart lawn mower does not include any other sensors for navigation.

[0573] In other embodiments, the smart lawn mower does not include any other sensors for obstacle avoidance.

[0574] In other embodiments, the smart lawn mower does not include any other sensors for weather detection.

[0575] In this embodiment, the laser radar can be positioned at least partially protruding from the housing 1, so that navigation, obstacle avoidance and weather detection can be better performed, such as facilitating the laser radar to perform obstacle avoidance detection toward the front and surrounding sides of the housing 1, and also facilitating the laser radar to detect the weather, such as rain detection.

[0576] In some specific embodiments, the laser radar is disposed on the housing 1 .

[0577] Of course, in a specific embodiment not shown in the figure, the laser radar can also be placed in a transparent cover to protect the laser radar through the transparent cover, and the setting of the transparent cover does not affect the laser radar's obstacle avoidance detection, navigation and weather detection.

[0578] As shown in FIG8 to FIG10 , the laser radar is arranged at a front end area of ​​the top of the housing 1 at an angle to the horizontal plane.

[0579] Specifically, the laser radar is arranged on the housing 1 at an angle relative to the horizontal plane, so that the blind spot at the front of the smart lawn mower can be minimized. It should be noted that the laser radar is arranged at the front area of ​​the top of the housing 1 to realize environmental monitoring of the area in the direction of the smart lawn mower's movement.

[0580] In this embodiment, a groove structure is provided in the front end area of ​​the top of the housing 1 for installing a laser radar, and the groove structure provides a supporting surface that cooperates with the mounting plate 11 to position the laser radar by positioning the mounting plate 11.

[0581] In some embodiments, the interior of the groove structure has a first mounting portion, and the housing 1 has a second mounting portion. In a specific implementation of this embodiment, the mounting plate 11 is snap-connected with the first mounting portion and the second mounting portion for positioning and installation by snap-connection. Specifically, the first mounting portion and the second mounting portion can be one of a clip and a slot, and the mounting plate 11 is provided with the other of the clip and the slot at the corresponding position.

[0582] In another specific implementation of this embodiment, the intelligent lawn mower further includes a fastener, and the mounting plate 11 is connected to the second mounting portion and the second mounting portion via the fastener, and the mounting plate 11 is fixed via the fastener, such as a screw.

[0583] In this embodiment, the first mounting portion is arranged on the bottom surface of the groove, and the mounting plate 11 has a first plate section, an inclined plate section and a second plate section connected in sequence. The first plate section abuts against the bottom surface of the groove and is connected to the first mounting portion, the inclined plate section abuts against the support surface, and the second plate section abuts against the casing 1 and is connected to the second mounting portion.

[0584] The mounting plate 11 with a three-section structure is respectively fixed to the bottom surface of the slot, the supporting surface and the top surface of the housing 1 , thereby further improving the installation stability of the mounting plate 11 .

[0585] It should be noted that the top of the casing 1 of this embodiment has a front end area and a rear end area, wherein the front end area and the rear end area are relatively arranged along the moving direction of the smart lawn mower, and the front end area is the area on the side of the forward direction when the smart lawn mower is in working state.

[0586] In this embodiment, the smart lawn mower also includes a cover plate 4, which is arranged on the casing. A sensor device accommodating space is formed between the cover plate 4 and the casing 1. The laser radar is at least partially accommodated in the sensor device accommodating space. The cover plate 4 has a through opening 41, and at least a portion of the laser radar extends outward from the through opening 41.

[0587] Among them, the smart lawn mower also includes an annular sleeve 5, which is fixedly connected to the cover plate 4 at the through-hole 41. The annular sleeve 5 is provided with a sensor device extension port 51 matching the laser radar, and the laser radar at least partially extends outward from the sensor device extension port 51.

[0588] In some embodiments, the annular sleeve 5 is positioned at the through-hole 41 and abuts the outer circumference of the laser radar. The annular sleeve 5 has at least one first heat dissipation vent 52, which connects the sensor device housing space with the external space to dissipate heat from the laser radar. The first heat dissipation vent 52 is arranged along the circumference of the annular sleeve 5. The first heat dissipation vent 52 can be an arc-shaped notch structure on the annular sleeve 5 or a through-hole heat dissipation hole on the annular sleeve 5. The annular sleeve 5 not only dissipates heat from the laser radar, but also serves as a protective and decorative feature.

[0589] In some embodiments, a heat dissipation gap may be formed between the cover plate 4 and the housing 1 to carry away the heat of the laser radar when air flows through it for heat dissipation.

[0590] In this embodiment, there is at least one second heat dissipation opening 42 between the cover plate 4 and the housing 1. The second heat dissipation opening 42 can connect the sensor device accommodating space and the external space to discharge the heat of the laser radar.

[0591] As shown in Figure 2, the casing 1 in this embodiment includes a front cover and a rear cover arranged oppositely, a first side cover and a second side cover arranged oppositely, and a top cover connected to the rear cover, the first side cover and the second side cover. The front cover is connected to the top cover through a mounting plate 11. The front cover, the mounting plate 11, the rear cover, the first side cover, the second side cover, and the top cover enclose a closed cavity, and the laser radar is arranged outside the closed cavity.

[0592] In some embodiments, the housing 1 has a second heat dissipation vent 42, which is a long strip-shaped hole structure to facilitate ventilation and heat dissipation when the smart lawn mower is in operation. The second heat dissipation vent 42 can be set on the front side of the housing 1 to improve the heat dissipation effect.

[0593] In this embodiment, the laser radar emits a laser beam toward the target, then compares the received signal reflected from the target with the transmitted signal. After appropriate processing, it can obtain relevant information about the target, such as target distance, direction, altitude and other parameters, thereby detecting, tracking and identifying the target. During the operation of the lawn mower, it is necessary to accurately detect the terrain in front of the machine to prevent the lawn mower from causing damage or harm to the surrounding environment. In this embodiment, by tilting a laser radar at the front of the housing 1, the angle of the laser beam emitted by the laser radar can be changed, the perception range of the environment in front of the lawn mower machine is increased, the detection blind area is reduced, and the terrain can be detected and mapped in real time, thereby avoiding obstacles and performing precise operations.

[0594] As shown in Figures 2 and 19, the center of the laser radar in this embodiment is located on the midline of the width of the housing 1. As will be appreciated, since the housing 1 of the lawn mower is designed to be symmetrical along its width, placing the laser radar on the midline of the housing 1 along its width facilitates accurate detection of the left and right ends of the front of the machine and facilitates obstacle avoidance within the lawn mower.

[0595] In a specific embodiment not shown in the figure, the center of the laser radar is located beside the center line of the width direction of the housing 1, which can also achieve the technical effect of detecting terrain and avoiding obstacles by using the tilted laser radar.

[0596] As shown in FIG1 , in order to reduce the blind spot, the laser radar in this embodiment includes a radar body 21 , and a horizontal distance L between the laser emitting portion of the radar body 21 and the front end of the housing 1 is greater than or equal to 30 mm.

[0597] It should be noted that, as shown in Figure 1, the closer the laser emitting part of the radar body 21 is to the front end of the casing 1, the larger the blind area of ​​the machine will be. Therefore, the horizontal distance L between the laser emitting part of the radar body 21 and the front end of the casing 1 needs to be controlled within a range greater than 30 mm.

[0598] Preferably, the horizontal distance L between the laser emitting portion of the radar body 21 and the front end of the housing 1 is 35 mm. Preferably, the horizontal distance L between the laser emitting portion of the radar body 21 and the front end of the housing 1 is 38 mm. Preferably, the horizontal distance L between the laser emitting portion of the radar body 21 and the front end of the housing 1 is 40 mm. The horizontal distance L between the laser emitting portion of the radar body 21 and the front end of the housing 1 is not limited to the listed values, and other values ​​within the numerical range not listed are also applicable.

[0599] In some embodiments, when the remaining parameters are determined, if the horizontal distance L between the radar body 21 and the front end of the housing 1 is set within the range of 40 mm to 180 mm, the distance between the radar body 21's detection area and the edge of the machine can be controlled to be less than or equal to 0.2 m. When the horizontal distance L between the radar body 21 and the front end of the housing 1 is set within the range of 40 mm to 180 mm, the impact of the housing 1 on the radar body 21's detection area is effectively reduced, the radar body 21's detection range is expanded, and the blind spot at the edge of the machine is greatly reduced, thereby improving the detection efficiency of the intelligent lawn mower and facilitating the improvement of the intelligent lawn mower's navigation and obstacle avoidance accuracy.

[0600] As shown in FIG5 , the casing 1 has a first end side and a second end side that are relatively arranged in the width direction of the casing 1; since the width of the lawn mower body will affect the detection range of the laser radar, when the distance W between the front end of the first end side and the front end of the second end side along the width direction of the casing 1 is less than or equal to 600 mm, it can prevent the laser radar arranged on the mounting plate 11 from being unable to detect the environment and terrain on both sides of the body.

[0601] In this embodiment, as shown in FIG8 , the horizontal field of view of the laser radar is 360°; as shown in FIG1 , the vertical field of view is greater than or equal to 30°.

[0602] Preferably, the vertical field of view angle of the laser radar is 40°, preferably, the vertical field of view angle of the laser radar is 50°, and preferably, the vertical field of view angle of the laser radar is 59°. The vertical field of view angle of the laser radar is not limited to the values ​​listed, and other values ​​not listed within the numerical range are also applicable.

[0603] It should be noted that the larger the vertical field of view angle, the larger the detectable range of the laser radar, the smaller the distance between the detectable area of ​​the laser radar and the edge of the machine, and the smaller the blind spot. When using a laser radar with a vertical field of view angle greater than or equal to 30° and the installation position on the lawn mower is determined by the aforementioned parameters, the detection range can be increased while reducing the distance between the laser radar detection range and its edge, thereby achieving the technical effect of reducing the blind spot.

[0604] Example 6

[0605] Different from the fifth embodiment, the present embodiment does not include the mounting plate 11 and the sensor device shock-absorbing member 7 is directly connected to the supporting member.

[0606] In this embodiment, the sensor device shock absorber 7 achieves shock absorption through the shock absorbing body, and is connected to the laser radar through the first connecting member 702, and is directly connected to the support member through the second connecting member 703, thereby reducing the use of parts, simplifying the assembly process, and improving assembly efficiency.

[0607] Example 7

[0608] Different from the fifth embodiment, as shown in FIG. 23 to FIG. 25 , in this embodiment, the first shock-absorbing body 701 is a shock-absorbing column.

[0609] Specifically, the laser radar achieves shock absorption through shock-absorbing columns.

[0610] The first shock absorbing body 701 is a silicone shock absorbing column or a rubber shock absorbing column, whichever is better for the first shock absorbing body 701 to have a good shock absorbing effect.

[0611] In some embodiments, the shock-absorbing column can be a miniature shock-absorbing column; the length of the shock-absorbing column is 6-10 mm; when the length of the shock-absorbing column is less than 6 mm, the shock-absorbing effect is poor; when the length of the shock-absorbing column is greater than 10 mm, the laser radar has the problem of poor installation stability.

[0612] In some embodiments, the cross-sectional area of ​​the shock absorbing column is 25-80 mm 2 If the cross-sectional area of ​​the shock-absorbing column is too small, the shock-absorbing effect will be poor; if the cross-sectional area of ​​the shock-absorbing column is too large, it will take up a lot of space and waste materials.

[0613] In some embodiments, the diameter of the shock-absorbing column is 6-10 mm. If the diameter of the shock-absorbing column is too small, the shock-absorbing effect is poor; if the diameter of the shock-absorbing column is too large, it takes up a lot of space and wastes materials.

[0614] In this embodiment, the specific size of the shock-absorbing column can be adaptively set according to the size of the laser radar.

[0615] As shown in FIG. 23 to FIG. 25 , the first connecting member 702 and the second connecting member 703 are arranged at intervals along the axial direction of the shock-absorbing column. The first connecting member 702 and the second connecting member 703 are respectively provided at two ends of the axial direction of the shock-absorbing column.

[0616] For example, the axial direction of the shock-absorbing column can refer to the direction of arrow X in FIG. 24 .

[0617] It should be noted that the shock-absorbing body can be selected according to the distance between the laser radar and the support. When the distance between the laser radar and the support is small, a shock-absorbing pad can be selected. When the distance between the laser radar and the support is large, a shock-absorbing column can be selected.

[0618] Specifically, the first connecting member 702 is connected to the laser radar, and the shock-absorbing column can realize the shock absorption of the laser radar. At the same time, the second connecting member 703 is connected to the support member to realize the connection between the laser radar and the support member through the sensor device shock-absorbing member 7.

[0619] In some embodiments, the first connector 702 is a nut, a screw, a hole connector, or an adhesive.

[0620] In some embodiments, the second connecting member 703 is a nut, a screw, a hole connecting member, or an adhesive member.

[0621] In this embodiment, at least two shock-absorbing columns are provided, and the at least two shock-absorbing columns are spaced apart. The provision of multiple shock-absorbing columns can achieve multi-point support for the laser radar, thereby avoiding concentrated stress and improving the stability of the laser radar.

[0622] In this embodiment, the intelligent lawn mower includes a housing 1. The length of the shock-absorbing columns at the rear end of the intelligent lawn mower is greater than the length of the shock-absorbing columns at the front end. This ensures that the rear end of the laser radar (LIDAR) is higher than the front end of the laser radar (LIDAR) in the direction of travel of the intelligent lawn mower. By adjusting the heights of the different shock-absorbing columns, a preset installation angle for the laser radar can be provided, improving installation convenience.

[0623] Of course, it is not limited to adjusting the size of the shock-absorbing column. The support member can also provide a sensor device installation part 111 for the installation of the laser radar, in which the height of the rear end is greater than the height of the front end along the travel direction of the intelligent lawn mower, so that after the laser radar is installed, the rear end of the laser radar is higher than the front end of the laser radar.

[0624] Example 8

[0625] Different from Example 5, as shown in Figures 21 to 22, in this embodiment, the second connecting member 703 is a connecting plate, which is fixedly arranged on the peripheral side of the first shock-absorbing body 701, and the first connecting member 702 and the second connecting member 703 are integrally arranged with the first shock-absorbing body 701.

[0626] Specifically, the integrally formed first connecting member 702, second connecting member 703 and first shock-absorbing body 701 are conducive to increasing the overall installation strength, thereby helping to improve the shock-absorbing effect of the laser radar.

[0627] In some embodiments, the second connecting member 703 is disposed on the peripheral side of the first shock absorbing body 701 to position and protect the shock absorbing body.

[0628] The connecting plate is a plastic connecting plate or a metal connecting plate, and is a structural member with strength to achieve a hard connection between the connecting plate and the supporting member.

[0629] In this embodiment, the second connecting member 703 is an annular connecting plate, and the first damping body 701 is disposed on the inner circumference of the annular connecting plate. The annular connecting plate provides a mounting location for the first damping body 701 and is used to connect to the support member. The specific shape of the annular connecting plate can be a rectangular ring, a circular ring, or an elliptical ring structure, specifically, the structure that allows the first damping body 701 to be integrally arranged with the inner circumference of the annular connecting plate.

[0630] Example 9

[0631] Different from the fifth embodiment, as shown in FIG. 16 and FIG. 17 , in this embodiment, the sensor device shock-absorbing member 7 includes a second shock-absorbing body 72 and a third connecting member 73 .

[0632] Specifically, the third connecting member 73 and the second shock-absorbing body 72 are arranged on the same side of the laser radar, the third connecting member 73 is fixedly connected to the laser radar, and the third connecting member 73 and the laser radar are both indirectly connected to the support member through the second shock-absorbing body 72.

[0633] In this embodiment, the third connector 73 is fixedly connected to the laser radar to form a connected whole. When the laser radar vibrates and moves, the laser radar can drive the third connector 73 to move synchronously. A second damping body 72 is provided between the support member and the connected whole, limiting the position of the connected whole. The second damping body 72 also provides a vibration-absorbing effect, thereby improving the stability and safety of the laser radar installation.

[0634] In some embodiments, the third connecting member 73 and the second shock-absorbing body 72 are arranged on the side of the laser radar facing the support member, so as to achieve shock absorption of the laser radar and the third connecting member 73 through the second shock-absorbing body 72.

[0635] In this embodiment, as shown in Figures 16 and 17, a mounting through hole compatible with the second shock-absorbing body 72 is provided on the support member, the second shock-absorbing body 72 is connected to the support member at the mounting through hole, and the second shock-absorbing body 72 is at least partially provided in the mounting through hole; the third connecting member 73 can pass through the mounting through hole and be fixedly connected to the laser radar.

[0636] Specifically, the mounting hole is the installation position of the second shock-absorbing body 72. The second shock-absorbing body 72 is installed at the mounting hole, so that when the third connecting member 73 vibrates and is displaced relative to the mounting hole, the second shock-absorbing body 72 can provide buffering, thereby achieving the effect of reducing the amount of vibration.

[0637] In some embodiments, the outer circumference of the inner portion of the second shock-absorbing body 72 is located to abut against the inner circumference of the mounting through hole, thereby achieving the positioning and installation of the second shock-absorbing body 72 .

[0638] In some embodiments, a mounting through hole is extended out from the first end of the second shock absorbing body 72 toward the laser radar, and the first end of the second shock absorbing body 72 includes a first shock absorbing end 721, which is arranged between the support and the laser radar.

[0639] Among them, when the laser radar moves toward the support, the first shock-absorbing end 721 is used to prevent the laser radar from colliding with the support. At the same time, the setting of the first shock-absorbing end 721 is also conducive to achieving a shock-absorbing effect on the laser radar.

[0640] In this embodiment, the first shock-absorbing end 721 is arranged in contact with the laser radar, which is beneficial to improving the shock filtering effect of the second shock-absorbing component. The second shock-absorbing component also has the effect of replicating the support of the laser radar.

[0641] In this embodiment, the contact surface 7011 between the first shock-absorbing end 721 and the support member is a first connecting surface. The first connecting surface is circular, and the diameter of the first connecting surface is larger than the diameter of the mounting through hole.

[0642] In this embodiment, the contact surface 7011 between the second shock-absorbing end 722 and the support member is a second connecting surface. The second connecting surface is circular, and the diameter of the second connecting surface is larger than the diameter of the mounting through hole.

[0643] As shown in Figures 16 and 17, the second end of the second shock-absorbing body 72 away from the laser radar extends out of the mounting through hole, the second end of the second shock-absorbing body 72 includes a second shock-absorbing end 722, and the third connecting member 73 is provided with a limiting end 731 at one end away from the laser radar; the second shock-absorbing end 722 is provided between the support member and the limiting end 731.

[0644] Among them, the first shock-absorbing end 721 abuts against the laser radar, and the second shock-absorbing end 722 abuts against the limiting end 731 of the third connecting member 73. By setting the second shock-absorbing body 72 abutting between the laser radar and the limiting end 731, when the connection formed by the laser radar and the third connecting member 73 vibrates as a whole, the second shock-absorbing body 72 has the function of filtering vibrations, thereby achieving the effect of reducing the vibration amplitude.

[0645] In this embodiment, the second damping body 72 is connected to the support member in a position-limiting manner via the first damping end 721 and the second damping end 722. The first damping end 721 and the second damping end 722 respectively abut against the surface of the support member facing toward and away from the laser radar, thereby achieving position-limiting abutment between the second damping body 72 and the support member.

[0646] Specifically, the second shock-absorbing body 72 also includes a shock-absorbing body section 723 arranged between the first shock-absorbing end 721 and the second shock-absorbing end 722. At least a portion of the shock-absorbing body section 723 passes through the mounting hole and abuts against the inner wall surface of the mounting hole. The first shock-absorbing end 721 and the second shock-absorbing end 722 are circumferential flanges arranged at both ends of the shock-absorbing body section 723, and the circumferential flanges protrude in the direction away from the mounting hole.

[0647] The third connecting member 73 passes through the shock-absorbing main section 723 and is fixedly connected to the laser radar, that is, the shock-absorbing main section 723 is covered on the third connecting member 73. In this embodiment, the first shock-absorbing end 721 and the second shock-absorbing end 723 are configured as circumferential flanges at both ends of the shock-absorbing main section 723. This allows the two circumferential flanges to abut against the support member to achieve the effect of limiting the position of the second shock-absorbing body 72 and the support member. The two circumferential flanges increase the contact area between the second shock-absorbing body 72 and the end surface of the support member facing toward and away from the laser radar, thereby improving assembly stability. At the same time, the provision of the circumferential flanges increases the contact area between the second shock-absorbing body 72 and the laser radar, which is conducive to improving the shock absorption effect.

[0648] In some embodiments, a mounting chamfer is provided on the first shock absorbing end 721 .

[0649] In this embodiment, the second shock-absorbing body 72 is a shock-absorbing sleeve, and the third connecting member 73 is a stepped fastener, such as a stepped screw.

[0650] It can be seen from the above technical solutions that this application has the following beneficial effects:

[0651] The intelligent lawn mower of the present application achieves the effect of reducing the shock of the laser radar by arranging a sensor device shock-absorbing member 7 between the support member and the laser radar, so as to avoid the problem of poor detection accuracy caused by vibration of the laser radar during use, and also avoid the vibration and noise of the whole machine caused by the laser radar.

[0652] The lawn mower of the present application is only provided with one laser radar on its casing 1. By providing one laser radar, the functions of navigation, obstacle avoidance and weather detection are realized, which simplifies the hardware structure. At the same time, it also overcomes the problem of complex control system caused by the use of multiple external sensors in the prior art. The present application only uses one laser radar, which saves costs and improves the product experience.

[0653] The lawn mower of the present application is equipped with a laser radar to detect and map the terrain in real time, thereby avoiding obstacles and operating accurately, making the operation of the lawn mower more stable and safe. In addition, the field of view of the laser radar of the present application can see the nearest points of the front end, left end and right end of the machine, further improving the safety of the operation of the lawn mower.

[0654] Example 10

[0655] As shown in Figures 1, 2, 8 and 28 to 33, this embodiment provides an intelligent lawn mower, which includes a protective mechanism 8 and a laser radar. The protective mechanism 8 has a protective space 801. At least one of the protective mechanism 8 and the laser radar is movably configured so that the laser radar can be selectively located within the protective space 801, or so that the laser radar can be selectively located at least partially outside the protective space 801. The protective mechanism 8 is used to protect the laser radar.

[0656] Specifically, the protective mechanism 8 of the smart lawn mower of the present application has a protective space 801. Through the relative movement between the protective mechanism 8 and the laser radar, when the laser radar needs to be protected, the laser radar can be located inside the protective space 801; when the laser radar needs to work, part of the laser radar can be located outside the protective space 801, and then the protective mechanism 8 of the present application can achieve the protection of the laser radar, so as to avoid the problem that the smart lawn mower in the prior art is easily damaged or displaced, thereby affecting the detection accuracy.

[0657] In some embodiments, the protection mechanism 8 and the laser radar are capable of relative movement.

[0658] Specifically, in the present application, the protection mechanism 8 can be stationary and the laser radar can be movable to achieve the movable setting of the protection mechanism 8 and the laser radar.

[0659] Alternatively, the protection mechanism 8 can be movable while the laser radar is stationary, so as to realize the movable setting of the protection mechanism 8 and the laser radar.

[0660] Of course, the protection mechanism 8 and the laser radar can both be movable to realize the movable setting of the protection mechanism 8 and the laser radar.

[0661] In this embodiment, when the protective mechanism 8 is movable, it can be linearly movable or rotatably arranged. The movable protective mechanism 8 enables the protective space 801 formed by the protective mechanism 8 to cover the laser radar, thereby providing protection for the laser radar. The protective mechanism 8 can be movable either linearly or rotatably, depending on whether the protective mechanism 8 can be moved to position the laser radar within the protective space 801 or at least partially move it out of the protective space 801.

[0662] When the laser radar is arranged to move, the movable laser radar can be arranged to move in a straight line or to be rotatable.

[0663] Specifically, when the laser radar moves telescopically in a straight line, the laser radar can selectively extend or retract into the protection space 801, thereby realizing that the laser radar is located inside the protection space 801 or at least partially outside the protection space 801.

[0664] When the laser radar is rotated, it rotates out of the protection space 801 or into the interior of the protection space 801, thereby realizing that the laser radar is located inside the protection space 801 or at least partially outside the protection space 801.

[0665] The following embodiments are provided for the structure of the protection mechanism 8 according to the present application.

[0666] As shown in FIG. 28 to FIG. 33 , the protection mechanism 8 includes a first protection member, and the laser radar is fixedly arranged on the first protection member, or the laser radar is movably arranged on the first protection member.

[0667] Among them, when the laser radar is fixedly set on the first protective part, the first protective part provides support for the installation of the laser radar to fix the laser radar; when the laser radar is movably set on the first protective part, the laser radar can move relative to the first protective part.

[0668] In this embodiment, the protection mechanism 8 further includes a second protection member 810 , which is movably connected to the first protection member. The second protection member 810 can at least partially cover the laser radar.

[0669] Specifically, the second protective member 810 movably arranged with the first protective member can cooperate with the first protective member to form a protective space 801, and then through the movement of the second protective member 810, the second protective member 810 can at least partially cover the laser radar, so as to protect the laser radar and avoid damage to the laser radar, thereby improving the safety of radar use.

[0670] Since the second protective member 810 is movably arranged relative to the first protective member, at least a portion of the laser radar can be exposed outside the protective space 801 by moving the second protective member 810 .

[0671] In some embodiments, the first protective member and the second protective member 810 are rotatably connected. By rotating the second protective member 810, the second protective member 810 can form a protective space 801 to block the laser radar, or the second protective member 810 can avoid the radar body 21 of the laser radar. The rotatably arranged second protective member 810 has the advantages of simple overall structure and simple operation.

[0672] Of course, this embodiment is not limited to the above-mentioned rotational connection relationship between the first protective member and the second protective member 810. It can also be a sliding fit between the first protective member and the second protective member 810. The sliding fit structure of the first protective member and the second protective member 810 can be used to realize the sliding second protective member 810 to cover the laser radar.

[0673] In this embodiment, the intelligent lawn mower includes a first driving member, which is drivingly connected to the second guard member 810 , and the first driving member can drive the second guard member 810 to move relative to the first guard member.

[0674] Specifically, the first driving member provides a driving force for the second protective member 810 to move relative to the first protective member, thereby achieving a technical effect of eliminating the need to manually drive the second protective member 810 .

[0675] In some embodiments, the first driving member can be a driving structure such as a motor, a cylinder, or a hydraulic cylinder; the first driving member can respond to the power-on signal of the smart lawn mower to drive the second protective member 810 to move relative to the first protective member so that the laser radar is at least partially located outside the protective space 801; the first driving member can also respond to the power-off signal of the smart lawn mower to drive the second protective member 810 to move in the opposite direction relative to the first protective member so that the laser radar is located within the protective space 801.

[0676] In this embodiment, when the second protective member 810 is one of a telescopic protective member, a foldable protective member and a retractable protective member, a protective space 801 can be formed between the second protective member 810 and the first protective member under the drive of the second driving member 831, thereby realizing that the protective radar can be set inside the protective space 801 or at least part of it is located outside the protective space 801.

[0677] It should be noted that the telescopic protective member is used to telescopically move the second protective member 810 so that the second protective member 810 can cover the laser radar to achieve the function of protecting the radar; the foldable protective member is used to cover the laser radar through folding technology to achieve the function of protecting the radar; the retractable protective member is used to cover the laser radar by controlling the retraction and extension to achieve the function of protecting the radar.

[0678] As shown in Figures 31 to 33, in this embodiment, a protective space 801 can be formed between the first protective member and the second protective member 810, and the second protective member 810 can move relative to the first protective member, so that the laser radar is at least partially located in the protective space 801, or, so that at least part of the laser radar is located outside the protective space 801.

[0679] Specifically, the second protective member 810 arranged relative to the first protective member can move the laser radar inside the protective space 801, so that the second protective member 810 can protect the laser radar and also has the technical effect of dust prevention.

[0680] In some embodiments, the second protective member 810 includes a shielding plate segment 811 and a connecting arm 812 connected to the shielding plate segment 811. The connecting arm 812 is rotatably connected to the first protective member. The connecting arm 812 achieves a rotatable connection with the first protective member, thereby enabling the connecting arm 812 to drive the shielding plate segment 811 to rotate. The shielding plate segment 811 rotates toward the lidar to block the lidar. The mating structure of the shielding plate segment 811 and the connecting arm 812 enables the rotatable structure of the second protective member 810. The provision of the connecting arm 812 helps enhance the stability of the rotation.

[0681] In this embodiment, the connecting arm 812 and the shielding plate segment 811 are integrally formed. The integrally formed connecting arm 812 and shielding plate segment 811 are conducive to simplifying the production process, and at the same time are conducive to strengthening the connection strength between the connecting arm 812 and the shielding plate segment 811, thereby improving the overall stability of the second protective member 810.

[0682] In some embodiments, the connecting arms 812 are arranged in pairs on both sides of the shielding plate segment 811, so that the shielding plate can be driven to rotate through the connecting arms 812 on both sides, thereby improving the stability of the shielding plate rotation.

[0683] In some embodiments, the connecting arm 812 and the shielding plate segment 811 are bent to facilitate the rotatable connection of the shielding plate segment 811 to the first protective member via the connecting arm 812. The connecting arm 812 and the shielding plate segment 811 are bent at 90 degrees.

[0684] In this embodiment, the second protective member 810 is a protective cover, and the shielding plate segment 811 is a shielding plate segment 811 having a curved outer surface. During the rotation of the protective cover, a protective space 801 is formed between the shielding plate segment 811 with a curved outer surface and the first protective member. The first protective member can be the housing 1, and the protective cover is rotatably mounted on the housing 1.

[0685] It should be noted that the second protective member 810 may also be a structural member such as a shielding curtain.

[0686] As shown in Figures 31 to 33, at least two second protective members 810 are provided, with a limiting structure 820 disposed between adjacent second protective members 810. The limiting structure 820 limits the connection between adjacent second protective members 810. During rotation, the plurality of second protective members 810 can be linked together by the limiting structure 820, thereby forming a protective space 801 covering the laser radar.

[0687] In this embodiment, a plurality of protective covers are abutted against each other by means of a limiting structure 820 , and one of two adjacent protective covers can drive the other of the two adjacent protective covers to rotate through the limiting structure 820 .

[0688] In some embodiments, the limiting structure 820 includes a first limiting connection portion 821 provided on one of the plurality of second protective members 810, and a second limiting connection portion 822 provided on another adjacent second protective member 810. The first limiting connection portion 821 and the second limiting connection portion 822 can abut against each other to limit the relative movement stroke between adjacent second protective members 810.

[0689] Among them, the first limiting connection part 821 and the second limiting connection part 822 are respectively arranged on two adjacent second protective parts 810. When one of the second protective parts 810 rotates, the first limiting structure 820 and the second limiting structure 820 begin to abut when moving to a preset angle. The second protective part 810 continues to rotate, which can realize the rotation of the other second protective part 810 through the limiting structure 820, thereby achieving a linkage effect.

[0690] In some embodiments, the first position-limiting connection portion 821 includes a first rib, and the second position-limiting connection portion 822 includes a second rib that matches the first rib. The first rib and the second rib are respectively provided on two adjacent second guarding members 810, and the first rib and the second rib extend in mutually facing directions. The surfaces of the first and second ribs that face each other constitute abutment surfaces. When the second guarding members 810 rotate, the two abutment surfaces abut, thereby enabling one second guarding member 810 to drive the other second guarding member 810 to rotate.

[0691] In this embodiment, the degree of overlap of the multiple second protective members 810 when the laser radar is located within the protective space 801 is no greater than the degree of overlap of the multiple second protective members 810 when at least a portion of the laser radar is located outside the protective space 801. To position at least a portion of the laser radar outside the protective space 801, the multiple second protective members 810 can be rotated so that they are positioned on one side of the laser radar and stacked together. If the laser radar needs to be located within the protective space 801, the multiple second protective members 810 can be driven to rotate in unison to cover the laser radar, placing the laser radar inside the protective space 801.

[0692] In this embodiment, the smart lawn mower has a housing 1, the first protective part is the housing 1, the laser radar is fixedly arranged on the housing 1, and the second protective part 810 is rotatably arranged on the housing 1, so that the second protective part 810 can rotate relative to the housing 1 and cooperate with the housing 1 to form a protective space 801.

[0693] Specifically, the laser radar can be directly set on the housing 1, or indirectly set on the housing 1 through an intermediate connecting member; the intermediate connecting member can be a mounting plate 11.

[0694] In some embodiments, the intelligent lawn mower further includes a cover plate 4, and the housing 1 and the cover plate 4 are reused as a first protective member. The laser radar is disposed on the housing 1, and the second protective member 810 is rotatably disposed on the housing 1, thereby enabling the second protective member 810 to rotate and form a protective space 801. The rotation of the second protective member 810 allows the laser radar to be located inside the protective space 801, or at least a portion of the laser radar to be located outside the protective space 801.

[0695] As shown in FIG1 , FIG2 and FIG8 , the laser radar is arranged at a front end area of ​​the top of the housing 1 at an angle to the horizontal plane.

[0696] Specifically, the laser radar is arranged on the housing 1 at an angle relative to the horizontal plane, so that the blind spot at the front of the smart lawn mower can be minimized. It should be noted that the laser radar is arranged at the front area of ​​the top of the housing 1 to realize environmental monitoring of the area in the direction of the smart lawn mower's movement.

[0697] As shown in Figures 2 to 8, the smart lawn mower also includes a mounting plate 11, which is fixedly mounted on the front end area of ​​the top of the casing 1. The mounting plate 11 has a sensor mounting portion 111, and the laser radar is mounted on the sensor mounting portion 111.

[0698] Among them, along the moving direction of the smart lawn mower, the rear end of the sensor device mounting part 111 is higher than the front end of the sensor device mounting part 111, so that along the moving direction of the smart lawn mower, the rear end of the laser radar is higher than the front end of the laser radar, so as to form the sensor device mounting part 111 that is inclined relative to the horizontal plane along the moving direction of the smart lawn mower, thereby realizing that the laser radar is also in an inclined state when installed on the sensor device mounting part 111.

[0699] Specifically, the laser radar is fixedly connected to the housing 1 through the mounting plate 11, which is beneficial to enhancing the stability of the installation of the laser radar.

[0700] In some embodiments, as shown in FIG1 , the inclination angle α between the connection surface of the sensor mounting portion 111 and the laser radar and the horizontal plane is α, and the range of α is 10°-60°. Preferably, the inclination angle α between the connection surface of the sensor mounting portion 111 and the laser radar and the horizontal plane is 20°.

[0701] In some embodiments, the tilt angle α between the connection surface of the sensor device mounting portion 111 and the laser radar and the horizontal plane can be 15°, or can be in the range of 18°, or can be in the range of 28°. The range of the tilt angle α between the connection surface of the sensor device mounting portion 111 and the laser radar and the horizontal plane is not limited to the listed values, and other values ​​not listed within the numerical range are also applicable.

[0702] It should be noted that the mounting plate 11 may be a convex slope, a concave slope, an irregular slope, or an inclined plane, etc. Since the laser radar is fixedly mounted on the mounting plate 11, the laser radar is also tilted. When the tilt angle α between the connection surface of the sensor device mounting portion 111 and the laser radar and the horizontal plane is too small, the distance between the detection range of the laser radar and the edge of the fuselage is large, and the blind spot formed is also large; when the tilt angle α between the connection surface of the sensor device mounting portion 111 and the laser radar and the horizontal plane is too large, the laser radar cannot detect the side and rear of the lawn mower, which is not conducive to obstacle avoidance.

[0703] In some embodiments, when the remaining parameters are determined, a 20° tilt angle α between the connection surface between the sensor mounting portion 111 and the laser radar and the horizontal plane facilitates controlling the distance between the detection area of ​​the radar body 21 and the edge of the machine to be less than or equal to 0.2 m. In this embodiment, a 20° tilt angle α between the connection surface between the sensor mounting portion 111 and the laser radar and the horizontal plane effectively reduces the impact of the housing 1 on the detection area of ​​the radar body 21, extending the detection range of the radar body 21 and significantly reducing blind spots at the edges of the machine. This in turn improves the detection efficiency of the intelligent lawn mower, facilitating enhanced navigation and obstacle avoidance accuracy for the intelligent lawn mower.

[0704] In this embodiment, a groove structure is provided in the front end area of ​​the top of the housing 1 for installing a laser radar, and the groove structure provides a supporting surface that cooperates with the mounting plate 11 to position the laser radar by positioning the mounting plate 11.

[0705] In some embodiments, the interior of the groove structure has a first mounting portion, and the housing 1 has a second mounting portion. In a specific implementation of this embodiment, the mounting plate 11 is snap-connected with the first mounting portion and the second mounting portion for positioning and installation by snap-connection. Specifically, the first mounting portion and the second mounting portion can be one of a clip and a slot, and the mounting plate 11 is provided with the other of the clip and the slot at the corresponding position.

[0706] In another specific implementation of this embodiment, the intelligent lawn mower further includes a fastener, and the mounting plate 11 is connected to the second mounting portion and the second mounting portion via the fastener, and the mounting plate 11 is fixed via the fastener, such as a screw.

[0707] In this embodiment, the first mounting portion is arranged on the bottom surface of the groove, and the mounting plate 11 has a first plate section, an inclined plate section and a second plate section connected in sequence. The first plate section abuts against the bottom surface of the groove and is connected to the first mounting portion, the inclined plate section abuts against the support surface, and the second plate section abuts against the casing 1 and is connected to the second mounting portion.

[0708] The mounting plate 11 with a three-section structure is respectively fixed to the bottom surface of the slot, the supporting surface and the top surface of the housing 1 , thereby further improving the installation stability of the mounting plate 11 .

[0709] It should be noted that the top of the casing 1 of this embodiment has a front end area and a rear end area, wherein the front end area and the rear end area are relatively arranged along the moving direction of the smart lawn mower, and the front end area is the area on the side of the forward direction when the smart lawn mower is in working state.

[0710] In this embodiment, the smart lawn mower also includes a cover plate 4, which is arranged on the casing 1. A sensor device accommodating space is formed between the cover plate 4 and the casing 1. The laser radar is at least partially accommodated in the sensor device accommodating space. The cover plate 4 has a through opening 41, and at least a portion of the laser radar extends outward from the through opening 41.

[0711] In some embodiments, a heat dissipation gap may be formed between the cover plate 4 and the housing 1 to carry away the heat of the laser radar when air flows through it for heat dissipation.

[0712] In this embodiment, there is at least one second heat dissipation opening 42 between the cover plate 4 and the housing 1. The second heat dissipation opening 42 can connect the sensor device accommodating space and the external space to discharge the heat of the laser radar.

[0713] The housing 1 in this embodiment includes a front cover and a rear cover that are relatively arranged, a first side cover and a second side cover that are relatively arranged, and a top cover connected to the rear cover, the first side cover and the second side cover. The front cover is connected to the top cover through a mounting plate 11. The front cover, the mounting plate 11, the rear cover, the first side cover, the second side cover, and the top cover form a closed cavity, and the laser radar is arranged outside the closed cavity.

[0714] In some embodiments, the housing 1 has a second heat dissipation vent 42, which is a long strip-shaped hole structure to facilitate ventilation and heat dissipation when the smart lawn mower is in operation. The second heat dissipation vent 42 can be set on the front side of the housing 1 to improve the heat dissipation effect.

[0715] In this embodiment, the laser radar integrates at least two of the smart lawn mower's navigation, obstacle avoidance, and weather detection functions. The smart lawn mower of this application has at least two of these functions. This multi-functional smart lawn mower significantly improves the degree of automation, which in actual use helps improve work efficiency, reduce manual intervention, and enhance the user experience.

[0716] In some embodiments, the LiDAR integrates navigation and obstacle avoidance functions into the smart lawn mower. The LiDAR with navigation functions facilitates path planning and guidance of the smart lawn mower during operation, controlling its direction through navigation and improving its efficiency. The LiDAR with obstacle avoidance functions also helps prevent collisions between the smart lawn mower and obstacles, enhancing the safety of the smart lawn mower.

[0717] In some embodiments, only one laser radar is provided for integrating the navigation and obstacle avoidance functions of the smart lawn mower. The housing 1 of the smart lawn mower of the present application is provided with only one laser radar. By providing a single laser radar for achieving navigation and obstacle avoidance functions, the hardware structure is simplified. This also overcomes the problem of complex control systems resulting from the use of multiple external sensors in the prior art. The use of only one laser radar in the present application saves costs and improves the product experience.

[0718] In more embodiments, the lidar can integrate the navigation function of the smart lawn mower while also integrating the positioning function.

[0719] LiDAR is also used for weather detection, enabling the smart mower to detect the weather conditions it is in. This means that LiDAR is used for navigation, obstacle avoidance, and weather detection. Smart mowers not only enable navigation and obstacle avoidance, but also include weather detection capabilities to adaptively adjust their operating state based on weather conditions, improving safety and efficiency.

[0720] Specifically, the number of laser radars integrated into the smart lawn mower's navigation, obstacle avoidance, and weather detection functions is only one. The smart lawn mower of the present application is only equipped with a single laser radar on its housing 1. By providing a single laser radar to achieve the navigation, obstacle avoidance, and weather detection functions, the hardware structure is simplified. This also overcomes the problem of the existing technology that uses multiple external sensors, which leads to a complex control system. The use of only one laser radar in the present application saves costs and improves the product experience.

[0721] In some embodiments, the lawn mower can detect and map the terrain in real time by setting up a laser radar, so as to avoid obstacles and operate accurately, making the operation of the lawn mower more stable and safe. In addition, the present application sets a laser radar field of view angle to see the nearest points of the front end, left end and right end of the machine, thereby further improving the safety of the lawn mower's operation.

[0722] It should be noted that the smart lawn mower of this embodiment does not include other sensors for either navigation or obstacle avoidance. This application only requires the setting of a laser radar to realize the functions of navigation, obstacle avoidance and weather detection.

[0723] In some embodiments, the smart lawn mower does not include any other sensors for navigation.

[0724] In other embodiments, the smart lawn mower does not include any other sensors for obstacle avoidance.

[0725] In other embodiments, the smart lawn mower does not include any other sensors for weather detection.

[0726] In this embodiment, the laser radar can be positioned at least partially protruding from the housing 1, so that navigation, obstacle avoidance and weather detection can be better performed, such as facilitating the laser radar to perform obstacle avoidance detection toward the front and surrounding sides of the housing 1, and also facilitating the laser radar to detect the weather, such as rain detection.

[0727] In some specific embodiments, the laser radar is disposed on the housing 1 .

[0728] Of course, in a specific embodiment not shown in the figure, the laser radar can also be placed in a transparent cover to protect the laser radar through the transparent cover, and the setting of the transparent cover does not affect the laser radar's obstacle avoidance detection, navigation and weather detection.

[0729] In this embodiment, the laser radar emits a laser beam toward the target, then compares the received signal reflected from the target with the transmitted signal. After appropriate processing, it can obtain relevant information about the target, such as target distance, direction, altitude and other parameters, thereby detecting, tracking and identifying the target. During the operation of the lawn mower, it is necessary to accurately detect the terrain in front of the machine to prevent the lawn mower from causing damage or harm to the surrounding environment. In this embodiment, by tilting a laser radar at the front of the housing 1, the angle of the laser beam emitted by the laser radar can be changed, the perception range of the environment in front of the lawn mower machine is increased, the detection blind area is reduced, and the terrain can be detected and mapped in real time, thereby avoiding obstacles and performing precise operations.

[0730] As shown in Figure 2, the center of the laser radar in this embodiment is located on the midline of the width of the housing 1. As will be appreciated, since the housing 1 of the lawn mower is designed to be symmetrical along its width, placing the laser radar on the midline of the housing 1 along its width facilitates accurate detection of the left and right ends of the front of the machine and facilitates obstacle avoidance within the lawn mower.

[0731] In a specific embodiment not shown in the figure, the center of the laser radar is located beside the center line of the width direction of the housing 1, which can also achieve the technical effect of detecting terrain and avoiding obstacles by using the tilted laser radar.

[0732] As shown in FIG1 , in order to reduce the blind spot, the laser radar in this embodiment includes a radar body 21 , and a horizontal distance L between the laser emitting portion of the radar body 21 and the front end of the housing 1 is greater than or equal to 30 mm.

[0733] It should be noted that, as shown in Figure 1, the closer the laser emitting part of the radar body 21 is to the front end of the casing 1, the larger the blind area of ​​the machine will be. Therefore, the horizontal distance L between the laser emitting part of the radar body 21 and the front end of the casing 1 needs to be controlled within a range greater than 30 mm.

[0734] Preferably, the horizontal distance L between the laser emitting portion of the radar body 21 and the front end of the housing 1 is 35 mm. Preferably, the horizontal distance L between the laser emitting portion of the radar body 21 and the front end of the housing 1 is 38 mm. Preferably, the horizontal distance L between the laser emitting portion of the radar body 21 and the front end of the housing 1 is 40 mm. The horizontal distance L between the laser emitting portion of the radar body 21 and the front end of the housing 1 is not limited to the listed values, and other values ​​within the numerical range not listed are also applicable.

[0735] In some embodiments, when the remaining parameters are determined, if the horizontal distance L between the radar body 21 and the front end of the housing 1 is set within the range of 40 mm to 180 mm, the distance between the radar body 21's detection area and the edge of the machine can be controlled to be less than or equal to 0.2 m. When the horizontal distance L between the radar body 21 and the front end of the housing 1 is set within the range of 40 mm to 180 mm, the impact of the housing 1 on the radar body 21's detection area is effectively reduced, the radar body 21's detection range is expanded, and the blind spot at the edge of the machine is greatly reduced, thereby improving the detection efficiency of the intelligent lawn mower and facilitating the improvement of the intelligent lawn mower's navigation and obstacle avoidance accuracy.

[0736] As shown in Figure 2, in the width direction of the casing 1, the casing 1 has a first end side and a second end side that are relatively arranged, the first side cover has a first end side, and the second side cover has a second end side; since the width of the lawn mower body will affect the detection range of the laser radar, when the distance W between the front end of the first end side and the front end of the second end side along the width direction of the casing 1 is less than or equal to 600mm, it can prevent the laser radar arranged on the mounting plate 11 from being unable to detect the environment and terrain on both sides of the body.

[0737] In this embodiment, as shown in FIG8 , the horizontal field of view of the laser radar is 360°; as shown in FIG1 , the vertical field of view is greater than or equal to 30°.

[0738] Preferably, the vertical field of view angle of the laser radar is 40°, preferably, the vertical field of view angle of the laser radar is 50°, and preferably, the vertical field of view angle of the laser radar is 59°. The vertical field of view angle of the laser radar is not limited to the values ​​listed, and other values ​​not listed within the numerical range are also applicable.

[0739] It should be noted that the larger the vertical field of view angle, the larger the detectable range of the laser radar, the smaller the distance between the detectable area of ​​the laser radar and the edge of the machine, and the smaller the blind spot. When using a laser radar with a vertical field of view angle greater than or equal to 30° and the installation position on the lawn mower is determined by the aforementioned parameters, the detection range can be increased while reducing the distance between the laser radar detection range and its edge, thereby achieving the technical effect of reducing the blind spot.

[0740] Example 11

[0741] Different from the embodiment 10, the intelligent lawn mower provided in this embodiment does not have a first driving member, and the movement of the second protective member 810 is manually controlled.

[0742] Specifically, as shown in Figure 31, an operating part 813 is provided on the second protective part 810. When the second protective part 810 needs to be moved, the operating part 813 can be used to drive the second protective part 810 to cover the laser radar so that the laser radar is located inside the protective space 801; the second protective part 810 can also be rotated through the operating part 813 to cancel the second protective part 810 covering the laser radar, so that at least a part of the laser radar is located outside the protective space 801.

[0743] In this embo...

Claims

1. An intelligent lawn mower, characterized in that: The intelligent lawn mower comprises: Supports; a laser radar, at least partially disposed above the support; A sensor device shock absorber, wherein the sensor device shock absorber is respectively connected to the laser radar and the supporting member, and the sensor device shock absorber is used to reduce vibration of the laser radar.

2. The intelligent lawn mower according to claim 1, characterized in that: The sensor device shock absorber is arranged between the laser radar and the support member.

3. The intelligent lawn mower according to claim 1, characterized in that: The sensor device shock-absorbing component includes a shock-absorbing pad or a shock-absorbing column.

4. The intelligent lawn mower according to claim 1, characterized in that: The sensor device shock absorbing member comprises: A first shock absorbing body; A first connecting member is provided on the first shock absorbing body, and the first shock absorbing body is connected to the laser radar through the first connecting member; The second connecting member is arranged on the first shock absorbing body, and the first shock absorbing body is connected to the supporting member through the second connecting member.

5. The intelligent lawn mower according to claim 4, characterized in that: The first connecting member is a nut, a screw, a hole connecting member or an adhesive member; and / or, The second connecting member is a nut, a screw, a hole connecting member or an adhesive member.

6. The intelligent lawn mower according to claim 4, characterized in that: The first connecting member is a first embedded member, and the first connecting member is embedded in the first shock absorbing body; the first connecting member and the first shock absorbing body are integrally arranged.

7. The intelligent lawn mower according to claim 6, characterized in that: The second connecting member is a second embedded member, and the second connecting member is embedded in the first shock absorbing body; the first connecting member, the second connecting member and the first shock absorbing body are integrally arranged.

8. The intelligent lawn mower according to claim 7, characterized in that: The first shock-absorbing body is a shock-absorbing pad.

9. The intelligent lawn mower according to claim 8, characterized in that: The thickness of the shock-absorbing pad is 5-7 mm.

10. The intelligent lawn mower according to claim 8, characterized in that: The shock-absorbing pad is a special-shaped shock-absorbing pad. Along the traveling direction of the smart lawn mower, the thickness of the rear end of the special-shaped shock-absorbing pad is greater than the thickness of the front end of the special-shaped shock-absorbing pad, so that along the traveling direction of the smart lawn mower, the rear end of the laser radar is higher than the front end of the laser radar.

11. The intelligent lawn mower according to claim 8, characterized in that: The first shock-absorbing body is a silicone shock-absorbing pad or a rubber shock-absorbing pad.

12. The intelligent lawn mower according to claim 8, characterized in that: The first shock-absorbing body is an annular shock-absorbing pad.

13. The intelligent lawn mower according to claim 8, characterized in that: The first shock absorbing body has a contact surface for contacting and cooperating with the laser radar; the first insert and the second insert are each provided with at least two, and the first insert and the second insert are alternately arranged in sequence in a direction parallel to the contact surface.

14. The intelligent lawn mower according to claim 7, characterized in that: The first shock absorbing body is a shock absorbing column.

15. The intelligent lawn mower according to claim 14, characterized in that: The shock absorbing column at least meets one of the following characteristics: The length of the shock absorbing column is 6-10 mm; The cross-sectional area of ​​the shock-absorbing column is 25-80 mm 2 .

16. The intelligent lawn mower according to claim 14, characterized in that: The first shock-absorbing body is a silicone shock-absorbing column or a rubber shock-absorbing column.

17. The intelligent lawn mower according to claim 14, characterized in that: The first connecting member and the second connecting member are arranged at intervals along the axial direction of the shock absorbing column, and the first connecting member and the second connecting member are respectively arranged at two ends of the axial direction of the shock absorbing column.

18. The intelligent lawn mower according to claim 14, characterized in that: At least two shock absorbing columns are provided, and at least two shock absorbing columns are arranged at intervals.

19. The intelligent lawn mower according to claim 18, characterized in that: Along the moving direction of the smart lawn mower, the length of the shock-absorbing column located at the rear end among the multiple shock-absorbing columns is greater than the length of the shock-absorbing column located at the front end, so that along the moving direction of the smart lawn mower, the rear end of the laser radar is higher than the front end of the laser radar.

20. The intelligent lawn mower according to claim 6, characterized in that: The second connecting member is a connecting plate, and the connecting plate is fixedly arranged on the peripheral side of the first shock absorbing body. The first connecting member, the second connecting member and the first shock absorbing body are integrally arranged.

21. The intelligent lawn mower according to claim 20, characterized in that: The connecting plate is a plastic connecting plate or a metal connecting plate.

22. The intelligent lawn mower according to claim 20, characterized in that: The second connecting member is an annular connecting plate, and the first shock absorbing body is arranged on the inner circumference side of the annular connecting plate.

23. The intelligent lawn mower according to claim 1, characterized in that: The sensor device shock absorbing member comprises: A second shock absorbing body; The third connecting member and the second shock absorbing body are arranged on the same side of the laser radar, the third connecting member is fixedly connected to the laser radar, and the third connecting member and the laser radar are indirectly connected to the supporting member through the second shock absorbing body.

24. The intelligent lawn mower according to claim 23, characterized in that: The support member is provided with a mounting through hole adapted to the second shock absorbing body, the second shock absorbing body is connected to the support member at the mounting through hole, and the second shock absorbing body is at least partially arranged in the mounting through hole; the third connecting member can pass through the mounting through hole and be fixedly connected to the laser radar.

25. The intelligent lawn mower according to claim 24, characterized in that: The first end of the second shock absorbing body extends out of the mounting through hole toward the laser radar, and the first end of the second shock absorbing body includes a first shock absorbing end, and the first shock absorbing end is arranged between the support member and the laser radar.

26. The intelligent lawn mower according to claim 25, characterized in that: The second end of the second shock absorbing body away from the laser radar extends out of the mounting through hole, and the second end of the second shock absorbing body includes a second shock absorbing end; A limiting end is arranged at one end of the third connecting member away from the laser radar; and the second shock absorbing end is arranged between the supporting member and the limiting end.

27. The intelligent lawn mower according to claim 26, characterized in that: The second shock-absorbing body also includes a shock-absorbing body section arranged between the first shock-absorbing end and the second shock-absorbing end, at least a portion of the shock-absorbing body section passes through the mounting hole and abuts against the inner wall surface of the mounting hole, the first shock-absorbing end and the second shock-absorbing end are circumferential flanges arranged at both ends of the shock-absorbing body section, and the circumferential flanges protrude in a direction away from the mounting hole.

28. The intelligent lawn mower according to claim 26, characterized in that: The second shock absorbing body is position-limitingly connected to the supporting member through the first shock absorbing end and the second shock absorbing end.

29. The intelligent lawn mower according to claim 26, characterized in that: The first damping end is provided with a mounting chamfer.

30. The intelligent lawn mower according to claim 26, characterized in that: The contact surface between the first damping end and the support member is a first connecting surface, the first connecting surface is circular, and the diameter of the first connecting surface is larger than the diameter of the mounting through hole; and / or, The contact surface between the second damping end and the support member is a second connecting surface. The second connecting surface is circular, and the diameter of the second connecting surface is greater than the diameter of the mounting through hole.

31. The intelligent lawn mower according to claim 23, characterized in that: The second shock-absorbing body is a shock-absorbing sleeve, and / or the third connecting member is a step fastener.

32. The intelligent lawn mower according to claim 1, characterized in that: The smart lawn mower also includes a mounting plate arranged on the support member, the sensor device shock absorber is at least partially arranged between the laser radar and the mounting plate, the sensor device shock absorber is indirectly connected to the support member through the mounting plate, and the laser radar is connected to a side of the sensor device shock absorber away from the mounting plate.

33. The intelligent lawn mower according to any one of claims 1 to 31, characterized in that: The sensor device shock absorbing member is directly connected to the supporting member.

34. The intelligent lawn mower according to any one of claims 1 to 31, characterized in that: The supporting member is a casing of the intelligent lawn mower.

35. The intelligent lawn mower according to any one of claims 3 to 31, characterized in that: The intelligent lawn mower further comprises a sensor device heat conductor and a first heat sink, wherein the sensor device heat conductor is connected to the laser radar and the first heat sink respectively; The heat conductor of the sensor device is used to conduct the heat of the laser radar to the first heat dissipation device.

36. The intelligent lawn mower according to claim 35, characterized in that: The sensor device shock absorber comprises a first shock absorber body, the first shock absorber body is provided with a mounting hole matching the sensor device heat conductor, the mounting hole passes through the first shock absorber body, and the sensor device heat conductor is arranged in the mounting hole.

37. The intelligent lawn mower according to any one of claims 1 to 31, characterized in that: The laser radar integrates at least two of the navigation, obstacle avoidance and weather detection functions of the smart lawn mower.

38. The intelligent lawn mower according to claim 37, characterized in that: The laser radar integrates the navigation and obstacle avoidance functions of the smart lawn mower.

39. The intelligent lawn mower according to claim 38, characterized in that There is only one laser radar.

40. The intelligent lawn mower according to claim 38, characterized in that: The laser radar also integrates a weather detection function.

41. The intelligent lawn mower according to claim 40, characterized in that: The number of the laser radars that integrate the navigation, obstacle avoidance and weather detection functions of the smart lawn mower is only one.

42. The intelligent lawn mower according to any one of claims 1-31, characterized in that: The support member is a housing of the intelligent lawn mower, and the laser radar is arranged at a front end area of ​​the top of the housing at an angle to a horizontal plane.

43. The intelligent lawn mower according to claim 32, characterized in that: The mounting plate has a sensor mounting portion; along the moving direction of the smart lawn mower, the rear end of the sensor mounting portion is higher than the front end of the sensor mounting portion, so that along the moving direction of the smart lawn mower, the rear end of the connection surface between the laser radar and the sensor mounting portion is higher than the front end of the connection surface between the laser radar and the sensor mounting portion.

44. The intelligent lawn mower according to any one of claims 1-31, characterized in that: The horizontal field of view of the laser radar is 360°, and the vertical field of view is greater than or equal to 30°.

45. An intelligent lawn mower, characterized in that: include: A protection mechanism, wherein the protection mechanism has a protection space; A laser radar, wherein at least one of the protective mechanism and the laser radar is movably arranged so that the laser radar can be selectively located within the protective space, or so that the laser radar can be selectively located at least partially outside the protective space; the protective mechanism is used to protect the laser radar.

46. ​​The intelligent lawn mower according to claim 45, characterized in that: The protection mechanism and the laser radar can move relative to each other.

47. The intelligent lawn mower according to claim 46, characterized in that: The movable protection mechanism can be arranged to move in a straight line or to be rotatable; and / or, The movable laser radar can be arranged to move linearly or rotatably.

48. The intelligent lawn mower according to claim 45, characterized in that: The protection mechanism includes a first protection piece, and the laser radar is fixedly arranged on the first protection piece, or the laser radar is movably arranged on the first protection piece.

49. The intelligent lawn mower according to claim 48, characterized in that: The protection mechanism also includes a second protection member, which is movably connected to the first protection member, and the second protection member can at least partially cover the laser radar.

50. The intelligent lawn mower according to claim 49, characterized in that: The first guarding member and the second guarding member are rotatably connected, or the first guarding member and the second guarding member are slidably connected.

51. The intelligent lawn mower according to claim 49, characterized in that: The intelligent lawn mower comprises a first driving member, the first driving member is drivingly connected to the second guarding member, and the first driving member can drive the second guarding member to move relative to the first guarding member.

52. The intelligent lawn mower according to claim 49, characterized in that: The second protection member is provided with an operating portion.

53. The intelligent lawn mower according to claim 49, characterized in that: The second protective member is a retractable protective member, or the second protective member is a foldable protective member, or the second protective member is a retractable protective member.

54. The intelligent lawn mower according to claim 49, characterized in that: The protection space can be formed between the first protection member and the second protection member; The second protective element is capable of moving relative to the first protective element, so that the laser radar is at least partially located within the protective space, or so that at least part of the laser radar is located outside the protective space.

55. The intelligent lawn mower according to claim 54, characterized in that: The second protective member comprises a shielding plate segment and a connecting arm connected to the shielding plate segment, and the connecting arm is rotatably connected to the first protective member.

56. The intelligent lawn mower according to claim 55, characterized in that: The second protective member is a protective cover, and the shielding plate segment is a shielding plate segment with an arc-shaped outer surface.

57. The intelligent lawn mower according to claim 55, characterized in that: The connecting arm and the shielding plate segment are integrally formed; and / or, The connecting arms are arranged in pairs on both sides of the shielding plate segment; and / or, The connecting arm and the shielding plate segment are bent into shape.

58. The intelligent lawn mower according to claim 54, characterized in that: At least two second protective members are provided, and a limiting structure is provided between adjacent second protective members; adjacent second protective members are connected in a limiting manner through the limiting structure.

59. The intelligent lawn mower according to claim 58, characterized in that: The limiting structure includes a first limiting connection portion provided on one of the plurality of second protection members, and a second limiting connection portion provided on another adjacent one of the plurality of second protection members; The first position-limiting connection portion and the second position-limiting connection portion can abut against each other to limit the relative movement stroke between adjacent second protection members.

60. The intelligent lawn mower according to claim 59, characterized in that: The first position-limiting connection portion includes a first convex rib, and the second position-limiting connection portion includes a second convex rib matched with the first convex rib.

61. The intelligent lawn mower according to claim 58, characterized in that: The overlapping degree of the plurality of second protective elements when the laser radar is located in the protective space is not greater than the overlapping degree of the plurality of second protective elements when at least part of the laser radar is located outside the protective space.

62. The intelligent lawn mower according to claim 49, characterized in that: The first protective member has a receiving groove, the receiving groove forms the protective space, and the laser radar can at least partially extend out of the protective space.

63. The intelligent lawn mower according to claim 50, characterized in that: The second protective member is movable relative to the first protective member to cover or expose the laser radar.

64. The intelligent lawn mower according to claim 62, characterized in that: The smart lawn mower also includes a transmission component, which is connected to the laser radar through transmission. The transmission component can drive the laser radar to move so that the laser radar moves into the protection space, or moves to at least partially outside the protection space.

65. The intelligent lawn mower according to claim 64, characterized in that: The transmission assembly can drive the laser radar to move up and down relative to the accommodating groove, or drive the laser radar to move in rotation relative to the accommodating groove.

66. The intelligent lawn mower according to claim 64, characterized in that: The transmission assembly comprises: a second driving member; A first transmission member, wherein the first transmission member is connected to the laser radar; a second transmission member, the second transmission member being drivingly connected to the second driving member, and the second transmission member being drivingly connected to the first transmission member; The second driving member can drive the second transmission member to move, thereby driving the first transmission member and the laser radar to move in coordination.

67. The intelligent lawn mower according to claim 66, characterized in that: The second transmission member includes a first gear, and the first transmission member includes a rack matched with the first gear, and the rack is meshed with the first gear.

68. The intelligent lawn mower according to claim 66, characterized in that: The second transmission member includes a first gear, the first transmission member includes a second gear matched with the first gear, and the first gear is meshed with the second gear.

69. The intelligent lawn mower according to claim 68, characterized in that: The second gear is an internal gear, or the second gear is an external gear.

70. The intelligent lawn mower according to any one of claims 48 to 69, characterized in that: The first protective element is a housing of the intelligent lawn mower.

71. The intelligent lawn mower according to claim 70, characterized in that: The intelligent lawn mower further includes a cover plate, and the housing and the cover plate together serve as the first protective member.

72. The intelligent lawn mower according to claim 70, characterized in that: The laser radar is arranged at a front end area of ​​the top of the housing at an angle to the horizontal plane.

73. The intelligent lawn mower according to any one of claims 45-69, characterized in that: The laser radar integrates at least two of the navigation, obstacle avoidance and weather detection functions of the smart lawn mower.

74. The intelligent lawn mower according to claim 73, characterized in that: The laser radar integrates the navigation and obstacle avoidance functions of the smart lawn mower.

75. The intelligent lawn mower according to claim 74, characterized in that: The number of the laser radar integrated with the navigation and obstacle avoidance functions of the intelligent lawn mower is only one.

76. The intelligent lawn mower according to claim 74, characterized in that: The laser radar also integrates a weather detection function.

77. The intelligent lawn mower according to claim 76, characterized in that: The number of the laser radars that integrate the navigation, obstacle avoidance and weather detection functions of the smart lawn mower is only one.

78. The intelligent lawn mower according to any one of claims 45-69, characterized in that: The horizontal field of view of the laser radar is 360°, and the vertical field of view is greater than or equal to 30°.

79. An intelligent lawn mower, characterized in that: include: Supports; Upper cover; the upper cover comprises a cover plate, the cover plate is arranged on the support member, and a through opening is arranged on the cover plate; LiDAR; The laser radar is arranged on the support member, at least one of the laser radars is arranged in the rear end area of ​​the intelligent lawn mower along the forward direction, at least part of the laser radar is located between the upper cover and the support member, and at least part of the laser radar extends outward from the through opening; The laser radar includes a radar body and a second sensor device heat sink, wherein the second sensor device heat sink is at least partially located between the upper cover and the support member, and the second sensor device heat sink is used to dissipate heat from the radar body. The working surface of the intelligent lawn mower is defined as a reference plane, and the orthographic projection of the radar body on the reference plane is located within the outer contour line of the orthographic projection of the second sensor device heat sink on the reference plane.

80. The intelligent lawn mower according to claim 79, characterized in that: The intelligent lawn mower further comprises two rear wheels, and the center of the laser radar is located on a perpendicular bisector of a line connecting the axles of the two rear wheels.

81. The intelligent lawn mower according to claim 80, characterized in that: The central axis of the radar body passes through the area between the two rear wheels.

82. The intelligent lawn mower according to claim 81, characterized in that: The central axis of the radar body is perpendicular to the working surface of the intelligent lawn mower.

83. The intelligent lawn mower according to claim 79, characterized in that: The center of the laser radar is located on the center line of the intelligent lawn mower in the width direction.

84. The intelligent lawn mower according to claim 79, characterized in that: The upper cover also includes an annular sleeve, which is fixedly connected to the cover plate at the through-opening. The annular sleeve is provided with a sensor device extension port matching the laser radar, and the laser radar at least partially extends outward from the sensor device extension port.

85. The intelligent lawn mower according to claim 84, characterized in that: The annular sleeve is a heat insulation cover, and the annular sleeve is made of black frosted material to prevent the external heat of the lawn mower from being conducted to the part of the laser radar that is not exposed to the external space.

86. The intelligent lawn mower according to claim 84, characterized in that: The outer surface of the annular sleeve is an arc-shaped surface convex outwards.

87. The intelligent lawn mower according to claim 84, characterized in that: The laser radar also includes a support base, which is arranged below the radar body and is used to support the radar body. The upper end of the laser radar extends outward from the extension port of the sensor device.

88. The intelligent lawn mower according to claim 84, characterized in that: The annular sleeve is provided with at least one first heat dissipation port to discharge the heat of the laser radar.

89. The intelligent lawn mower according to claim 88, characterized in that: The first heat dissipation opening is a notch structure.

90. The intelligent lawn mower according to claim 88, characterized in that: The first heat dissipation opening is a heat dissipation hole.

91. The intelligent lawn mower according to claim 79, characterized in that: The supporting member is a casing, at least one of the laser radars is arranged in the rear end area of ​​the casing, and the top of the laser radar is higher than the top of the upper cover.

92. The intelligent lawn mower according to claim 79, characterized in that: The second sensor device heat sink is arranged on the peripheral side of the radar body.

93. The intelligent lawn mower according to claim 92, characterized in that: The second sensor device heat sink includes a plurality of second heat sinks, and the plurality of second heat sinks are arranged at intervals.

94. The intelligent lawn mower according to claim 79, characterized in that: The smart lawn mower also includes a first heat dissipation device, which is used to dissipate heat for the laser radar. The first heat dissipation device includes a first sensor device heat sink, which is arranged on the side of the laser radar. The first sensor device heat sink includes a plurality of first heat sinks, which are arranged at intervals to form heat dissipation gaps between the plurality of first heat sinks.

95. The intelligent lawn mower according to claim 94, characterized in that: The smart lawn mower also includes a mounting plate, which is arranged on the support member. The mounting plate includes a sensor device mounting portion, the laser radar is arranged on the sensor device mounting portion, and the first sensor device heat sink is connected to the mounting plate and is integrally arranged with the mounting plate.

96. The intelligent lawn mower according to claim 95, characterized in that: The mounting plate is a heat-conducting plate, and the smart lawn mower also includes a sensor device heat conductor, which is arranged between the laser radar and the mounting plate. The sensor device heat conductor is used to conduct the heat of the laser radar to the mounting plate, and then from the mounting plate to the first sensor device heat sink.

97. The intelligent lawn mower according to claim 94, characterized in that: The first heat dissipation device also includes a third sensor device heat sink, the third sensor device heat sink is installed on the mounting plate, and the third sensor device heat sink is connected to the laser radar.

98. The intelligent lawn mower according to claim 97, characterized in that: The third sensor device heat sink includes at least one of a graphene heat sink and a heat dissipation copper tube.

99. The intelligent lawn mower according to claim 79, characterized in that: The intelligent lawn mower also includes a second heat dissipation device, which is arranged beside the laser radar and is used for air cooling the laser radar.

100. The intelligent lawn mower according to any one of claims 79-99, characterized in that: At least one third heat dissipation port is provided on the support member, and the third heat dissipation port connects the laser radar with the external space.

101. The intelligent lawn mower according to claim 100, characterized in that: At least a portion of the heat sink of the second sensor device extends from the third heat dissipation opening to the external space.

102. The intelligent lawn mower according to claim 79, characterized in that: The laser radars are arranged in two, and another laser radar is arranged at the front end area of ​​the intelligent lawn mower along the traveling direction.

103. The intelligent lawn mower according to claim 79, characterized in that: The intelligent lawn mower further includes a light-transmitting cover, which is arranged outside the laser radar.

104. The intelligent lawn mower according to claim 91, wherein the housing has a first end side and a second end side that are arranged opposite to each other, and a distance between a front end of the first end side and a front end of the second end side is less than or equal to 600 mm.

105. An intelligent lawn mower, characterized in that: include: Supports; Upper cover; the upper cover comprises a cover plate, the cover plate is arranged on the support member, and a through opening is arranged on the cover plate; LiDAR; The laser radar is arranged on the support member, at least one of the laser radars is arranged in the rear end area of ​​the intelligent lawn mower along the forward direction, the laser radar comprises a radar body, at least part of the laser radar is located between the upper cover and the support member, and at least part of the laser radar extends outward from the through opening; Heat dissipation structure; at least part of the heat dissipation structure is located between the upper cover and the support member, and the heat dissipation structure is used to dissipate heat for the laser radar.

106. An intelligent lawn mower, characterized in that: include: Supports; Laser radar; the laser radar is arranged on the support member, the laser radar comprises a radar body, and the radar body is provided with a laser emitting part; An annular sleeve; the annular sleeve is provided with a sensor device extension port matching the laser radar, and the laser radar at least partially extends outward from the sensor device extension port.

107. The intelligent lawn mower according to claim 106, characterized in that: The annular sleeve is provided with at least one first heat dissipation port to discharge the heat of the laser radar.

108. The intelligent lawn mower according to claim 107, characterized in that: The first heat dissipation opening is a notch structure.

109. The intelligent lawn mower according to claim 107, characterized in that: The first heat dissipation opening is a heat dissipation hole.

110. The intelligent lawn mower according to claim 106, characterized in that: The annular sleeve is made of black frosted material to prevent the external heat of the lawn mower from being transmitted to the part of the laser radar that is not exposed to the external space.

111. The intelligent lawn mower according to claim 106, characterized in that: The outer surface of the annular sleeve is an arc-shaped surface convex outwards.

112. The intelligent lawn mower according to claim 106, characterized in that: The smart lawn mower also includes a second sensor device heat sink, which is used to dissipate heat for the radar body. The working surface of the smart lawn mower is defined as a reference plane, and the orthographic projection of the radar body on the reference plane is located within the outer contour line of the orthographic projection of the second sensor device heat sink on the reference plane.

113. The intelligent lawn mower according to claim 112, characterized in that: The second sensor device heat sink is arranged on the peripheral side of the radar body, and the second sensor device heat sink includes a plurality of second heat sinks, and the plurality of second heat sinks are arranged at intervals.

114. The intelligent lawn mower according to claim 106, characterized in that: The intelligent lawn mower further comprises a cover plate, which is arranged on the support member, and a through opening is arranged on the cover plate, and the annular sleeve is fixedly connected to the cover plate at the through opening.

115. The intelligent lawn mower according to claim 114, characterized in that: A sensor device accommodating space is formed between the cover plate and the support member, and the laser radar is at least partially disposed in the sensor device accommodating space.

116. The intelligent lawn mower according to claim 115, characterized in that: At least one third heat dissipation opening is arranged on the support member, and the third heat dissipation opening is connected with the sensor device accommodating space and the external space.

117. The intelligent lawn mower according to claim 106, characterized in that: Along the forward direction of the lawn mower, the rear end of the laser radar is higher than the front end of the laser radar, the angle between the line between the rear end of the laser radar and the front end of the laser radar and the horizontal plane is 10-60°, and the horizontal distance between the laser emitting part of the radar body and the front end of the intelligent lawn mower along the forward direction is 40mm-180mm.

118. The intelligent lawn mower according to claim 117, characterized in that: The angle between the line between the rear end of the laser radar and the front end of the laser radar and the horizontal plane is 15-30°.

119. The intelligent lawn mower according to claim 117, characterized in that: The center of the laser radar is located on the center line of the intelligent lawn mower in the width direction.

120. The intelligent lawn mower according to claim 117, characterized in that: The number of the laser radar is only one, and the horizontal field of view angle of the laser radar is greater than or equal to 180°, and the vertical field of view angle is greater than or equal to 30°.

121. An intelligent lawn mower, characterized in that: include: Supports; LiDAR; The laser radar is arranged on the supporting member; The laser radar includes a radar body; In the mowing state, along the forward direction of the intelligent lawn mower, the rear end of the laser radar is higher than the front end of the laser radar, the angle between the line between the rear end of the laser radar and the front end of the laser radar and the horizontal plane is 10-60°, and the horizontal distance between the laser emitting part of the radar body and the front end of the intelligent lawn mower along the forward direction is 40mm-180mm.

122. The intelligent lawn mower according to claim 121, characterized in that: In the mowing state, the angle between the line between the rear end of the laser radar and the front end of the laser radar and the horizontal plane is 15-30°.

123. The intelligent lawn mower according to claim 121, characterized in that: The center of the laser radar is located on the center line of the intelligent lawn mower in the width direction.

124. The intelligent lawn mower according to claim 121, characterized in that: The number of the laser radar is only one, and the laser radar is arranged at the front end area of ​​the intelligent lawn mower along the moving direction.

125. The intelligent lawn mower according to claim 124, characterized in that: The horizontal field of view angle of the laser radar is greater than or equal to 180°, and the vertical field of view angle is greater than or equal to 30°.

126. The intelligent lawn mower according to claim 124, characterized in that: The horizontal field of view of the laser radar is 360°, and the vertical field of view is greater than or equal to 30°.

127. The intelligent lawn mower according to claim 121, characterized in that: The number of the laser radars is set to two, and at least one of the two laser radars is set at the front end area of ​​the intelligent lawn mower along the traveling direction.

128. The intelligent lawn mower according to claim 127, characterized in that: The horizontal field of view angle of the laser radar is greater than or equal to 80°, and the vertical field of view angle is greater than or equal to 30°.

129. The intelligent lawn mower according to claim 127, characterized in that: The horizontal field of view angle of the laser radar is greater than or equal to 110°, and the vertical field of view angle is greater than or equal to 30°.

130. The intelligent lawn mower according to claim 129, characterized in that: The horizontal field of view angle of the two laser radars is greater than the horizontal field of view angle of a single laser radar.

131. The intelligent lawn mower according to claim 121, characterized in that: There are three laser radars, and at least one of the three laser radars is arranged at the front end area of ​​the intelligent lawn mower along the traveling direction.

132. The intelligent lawn mower according to claim 131, characterized in that: The horizontal field of view angle of the laser radar is greater than or equal to 80°, and the vertical field of view angle is greater than or equal to 30°.

133. The intelligent lawn mower according to claim 131, characterized in that: The horizontal field of view angle of the laser radar is greater than or equal to 110°, and the vertical field of view angle is greater than or equal to 30°.

134. The intelligent lawn mower according to claim 131, characterized in that: The horizontal field of view angle of the three laser radars is greater than the horizontal field of view angle of a single laser radar.

135. The intelligent lawn mower according to claim 121, characterized in that: The distance between the detection area of ​​the laser emitting unit and the edge of the machine is less than or equal to 0.2 m.

136. The intelligent lawn mower according to any one of claims 121-135, characterized in that: The intelligent lawn mower also includes a mounting plate arranged on the support member, and the laser radar is mounted on the mounting plate.

137. The intelligent lawn mower according to claim 136, characterized in that: The mounting plate is provided with a sensor device mounting portion, and the laser radar is mounted on the sensor device mounting portion; Along the moving direction of the smart lawn mower, the rear end of the connection surface between the sensor device mounting part and the laser radar is higher than the front end of the connection surface between the sensor device mounting part and the laser radar, so that along the moving direction of the smart lawn mower, the rear end of the laser radar is higher than the front end of the laser radar.

138. The intelligent lawn mower according to claim 136, characterized in that: The intelligent lawn mower also includes a sensor device shock absorber, which is arranged between the laser radar and the mounting plate, and is used to reduce vibration of the laser radar.

139. The intelligent lawn mower according to claim 121, characterized in that: The support member is the casing of the intelligent lawn mower. Along the width direction of the casing, the casing has a first end side and a second end side that are relatively arranged, and the distance between the front end of the first end side and the front end of the second end side is less than or equal to 600 mm.

140. The intelligent lawn mower according to claim 121, characterized in that: The intelligent lawn mower also includes an annular sleeve, on which is provided a sensor device extension port matching the laser radar, and the laser radar at least partially extends outward from the sensor device extension port.

141. The intelligent lawn mower according to claim 140, characterized in that: The annular sleeve is provided with at least one first heat dissipation port to discharge the heat of the laser radar.

142. The intelligent lawn mower according to claim 141, characterized in that: The first heat dissipation opening is a notch structure.

143. The intelligent lawn mower according to claim 141, characterized in that: The first heat dissipation opening is a heat dissipation hole.

144. The intelligent lawn mower according to claim 141, characterized in that: The annular sleeve is made of black frosted material to prevent the external heat of the lawn mower from being transmitted to the part of the laser radar that is not exposed to the external space.

145. The intelligent lawn mower according to claim 141, characterized in that: The outer surface of the annular sleeve is an arc-shaped surface convex outwards.

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