Lawn mower

Abstract

A lawn mower (100), comprising a mower body (10), a traveling wheel assembly (20) and a visual module (30), wherein the traveling wheel assembly (20) is arranged on two sides of the mower body (10), and the visual module (30) is arranged at the top of the mower body (10). The visual module (30) comprises a camera (31) and an illumination apparatus (32), wherein the camera (31) and the illumination apparatus (32) are both inclined towards the ground and form an included angle of 30°-50° with a horizontal direction, and it can be ensured that the illumination apparatus (32) can accurately illuminate a working area in case of dim light, such that the visual module (30) can accurately identify the working area when the lawn mower (100) travels.

Description

Lawn mower Technical Field

[0001] The invention relates to a lawn mower and belongs to the technical field of garden tools. Background Art

[0002] A smart lawn mower is a machine used to trim green belts or lawns. The smart lawn mower includes a vision module, which includes accessories such as a camera, for automatically identifying the work area.

[0003] In the prior art, the visual module can only accurately identify the working area when there is sufficient light. When the light is dim, it is difficult for the visual module to accurately identify the working area, causing the smart lawn mower to not work properly.

[0004] In addition, the top of the housing of the lawn mower is usually provided with a flip cover structure. Without disassembling the housing, the user can check or repair the internal structure by opening the flip cover, which is more convenient and quick to operate.

[0005] However, when the flip cover is open, it is easily affected by external forces, such as being automatically closed by wind or the flip cover's own gravity, which may bring a bad user experience.

[0006] In view of this, it is indeed necessary to improve the existing intelligent lawn mower to solve the above problems.

[0007] Summary of the Invention

[0008] The object of the present invention is to provide a new type of lawn mower, which is provided with a camera and a lighting device. When the light is dim, the lighting device can provide illumination to ensure that the visual module can accurately identify.

[0009] To achieve the above object, the present invention provides a lawn mower, comprising:

[0010] body;

[0011] Travel wheel assemblies, provided on both sides of the fuselage; and

[0012] A visual module is provided on the top of the fuselage;

[0013] The visual module includes a camera and a lighting device, and the camera and the lighting device are both inclined toward the ground and form an angle of 30° to 50° with the horizontal direction.

[0014] As a further improvement of the present invention, the angle at which the camera is tilted toward the ground is the same as the angle at which the lighting device is tilted toward the ground.

[0015] As a further improvement of the present invention, the lighting device is a lamp bead, a control board is provided in the fuselage, the lamp bead is arranged on the control board, and is controlled by the control board.

[0016] As a further improvement of the present invention, the visual module also includes a sensor electrically connected to the control board, and the sensor is arranged close to the camera to detect the brightness of the external environment and transmit the detected data to the control board.

[0017] As a further improvement of the present invention, when the lawn mower is in working state and the sensor detects that the brightness of the external environment is lower than a preset value, the control board controls the lamp beads to light up.

[0018] As a further improvement of the present invention, the lawn mower also includes an RTK antenna and a radar. The RTK antenna is arranged on the top of the fuselage and behind the camera. The radar is arranged on the front side of the fuselage and below the camera. The camera, RTK antenna and radar are all covered by the fuselage.

[0019] As a further improvement of the present invention, the fuselage includes a chassis and a casing, the casing cover is arranged on the chassis and fixedly connected to the chassis, the walking wheel assembly is arranged on both sides of the chassis, and the visual module is arranged on the fuselage and exposed from the opening at the top of the casing.

[0020] As a further improvement of the present invention, the visual module also includes a bracket, which is vertically arranged in the fuselage, with the bottom end fixedly connected to the chassis and the top end extending beyond the casing, and the casing is provided with an opening for the top end of the bracket to pass through.

[0021] As a further improvement of the present invention, the bracket includes a column,

[0022] A fixing portion protruding from the top of the column toward the front side of the lawn mower, and

[0023] A positioning platform extends horizontally from the top of the column toward the rear side of the lawn mower,

[0024] The camera is fixed at the middle position of the fixing part, the lighting device is also fixed on the fixing part and is located on both sides of the camera, the radar is fixed on the fixing part and is located below the lighting device, and the RTK antenna is fixed on the positioning platform.

[0025] As a further improvement of the present invention, the fixing part includes a first fixing plate, a first fixing member and a second fixing member, which are located on both sides of the first fixing plate and extend horizontally, and a second fixing plate, which is located below the first fixing plate. A positioning block is provided on the side of the second fixing plate close to the column. The camera is laid on the first fixing plate and clamped and fixed by the positioning block. The lighting equipment is buckled and fixed by the first fixing member and the second fixing member. The radar is laid on the second fixing plate.

[0026] The present invention provides the following beneficial effects: The lawn mower of the present invention utilizes a camera positioned on the top front side of the mower body and lighting devices positioned on either side of the camera. In dim light conditions, the lighting devices provide illumination, ensuring that the visual module can accurately identify the work area while the mower is in motion. Furthermore, by tilting both the camera and lighting devices toward the ground at an angle of 30° to 50° with respect to the horizontal, the lighting devices ensure precise illumination of the work area.

[0027] The present invention also provides a casing structure, which can limit the passive flipping of the flip cover under the influence of external force when the flip cover is in the open state or the closed state, thereby improving the user experience; specifically, the casing structure includes: a base cover, including a limiting portion and an upper end surface, the limiting portion protruding downward from the inner wall surface of the base cover; and a flip cover, including a connecting portion, and the flip cover is rotatably connected to the base cover along the pivot axis through the connecting portion; wherein, the connecting portion is provided with a first limiting groove and a second limiting groove near the pivot axis, when the limiting portion is limited and accommodated in the first limiting groove, the flip cover is in the closed state, and the flip cover remains parallel to the upper end surface of the base cover; when the limiting portion is limited and accommodated in the second limiting groove, the flip cover is in the open state, and the flip cover rotates to be substantially perpendicular to the upper end surface and remains fixed.

[0028] As a further improvement of the present invention, both the first limiting groove and the second limiting groove are formed by being recessed inward from the outer wall surface of the connecting portion, and the first limiting groove and the second limiting groove are spaced apart from each other.

[0029] As a further improvement of the present invention, a connecting hole is provided on the connecting portion, and the pivot shaft passes through the connecting hole and is fixedly connected to the base cover, so that the flip cover can rotate around the pivot shaft.

[0030] As a further improvement of the present invention, the limiting portion is a limiting protrusion, and the first limiting groove and the second limiting groove are arranged on the outer periphery of the connecting hole, so that when the flip cover rotates around the pivot axis, the limiting protrusion can switch between the first limiting groove and the second limiting groove.

[0031] As a further improvement of the present invention, the flip cover includes a cover plate, the connecting portion bends downward and extends from one end of the cover plate, and makes the first limiting groove and the second limiting groove close to the cover plate. When the flip cover is in a closed state, the cover plate is coplanar with the upper end surface of the base cover; when the flip cover is in an open state, the cover plate is perpendicular to the base cover.

[0032] As a further improvement of the present invention, the base cover is provided with a first mounting position and a supporting platform located on both sides of the first mounting position, the supporting platform is configured to support the flip cover, and the cover plate is provided with an abutment column on the side facing the base cover, and when the flip cover is in a closed state, the abutment column abuts against the supporting platform.

[0033] Another object of the present invention is to provide a lawn mower comprising the above-mentioned casing structure.

[0034] To achieve the above-mentioned objectives, the present invention provides a lawn mower, including a casing structure, wherein the casing structure includes a base cover, including a limiting portion and an upper end surface, the limiting portion protruding downward from the inner wall surface of the base cover; and a flip cover, including a connecting portion, and the flip cover is rotatably connected to the base cover along a pivot axis through the connecting portion; wherein a first limiting groove and a second limiting groove are provided near the pivot axis of the connecting portion, when the limiting portion is limited and accommodated in the first limiting groove, the flip cover is in a closed state, and the flip cover remains parallel to the upper end surface of the base cover; when the limiting portion is limited and accommodated in the second limiting groove, the flip cover is in an open state, and the flip cover is rotated to be substantially perpendicular to the upper end surface and remains fixed.

[0035] As a further improvement of the present invention, the lawn mower also includes a detection component, which is configured to detect obstacles in the direction of travel of the lawn mower. A second installation position is provided on the side of the base cover away from the flip cover, and the detection component is installed in the second installation position. The detection component includes a detection radar and a camera.

[0036] As a further improvement of the present invention, the lawn mower also includes a cutting assembly, which is configured to perform mowing operations. The lawn mower also includes a chassis, which is fixedly connected to the casing structure, and the cutting assembly is movably connected to the chassis, and the cutting assembly can be raised and lowered relative to the chassis.

[0037] As a further improvement of the present invention, a third installation position is provided on the flip cover, and the lawn mower further includes a switch assembly, which is installed in the third installation position and is configured to control the start and stop of the lawn mower.

[0038] The beneficial effects of the present invention are as follows: the casing structure of the present invention, by providing a downwardly protruding limiting portion on the inner wall surface of the base cover, and at the same time providing a first limiting groove and a second limiting groove on the flip cover, can utilize the mutual cooperation between the limiting portion and the corresponding limiting groove to make the flip cover be in the corresponding closed state or open state when the flip cover is in the closed state or the open state, so as to limit the flip cover from flipping due to the influence of external force, thereby improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0040] FIG1 is a perspective view of a lawn mower according to the present invention.

[0041] FIG. 2 is a side view of the lawn mower shown in FIG. 1 .

[0042] FIG3 is a schematic structural diagram of the lawn mower shown in FIG1 with the housing removed.

[0043] FIG. 4 is a side view of FIG. 3 .

[0044] FIG5 is a partial enlarged view of the visual module in FIG4 .

[0045] FIG6 is a three-dimensional structural diagram of the visual module in FIG3 .

[0046] FIG. 7 is an exploded view of the vision module shown in FIG. 6 .

[0047] FIG8 is a perspective structural diagram of a lawn mower according to an embodiment of the present invention.

[0048] FIG. 9 is an exploded view of the structure of the lawn mower shown in FIG. 8 .

[0049] FIG10 is a three-dimensional structural diagram of the housing structure in FIG8 .

[0050] FIG11 is a cross-sectional view of the housing structure shown in FIG10 .

[0051] FIG12 is an enlarged view of the circled portion in FIG11 .

[0052] FIG13 is a three-dimensional structural diagram of the flip cover in FIG10 .

[0053] FIG14 is a three-dimensional structural diagram of the flip cover shown in FIG13 from another angle.

[0054] FIG15 is a three-dimensional structural diagram of the base cover in FIG10.

[0055] FIG16 is a three-dimensional structural diagram of the base cover shown in FIG15 from another angle. DETAILED DESCRIPTION

[0056] In order to make the objectives, technical solutions and advantages of the present invention more clear, the present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0057] As shown in Figures 1 to 3, the present invention discloses a lawn mower 100, including a body 10, a walking wheel assembly 20 and a visual module 30, wherein the walking wheel assembly 20 is arranged on both sides of the body 10 to drive the lawn mower 100 to move; the visual module 30 is arranged on the top front side of the body 10, and is used to automatically identify the working area when the lawn mower 100 is moving.

[0058] The body 10 includes a chassis 11 and a casing 12 that is covered on and connected to the chassis 11, the running wheel assembly 20 is arranged on both sides of the chassis 11, and the visual module 30 is arranged on the body 10 and exposed from an opening 1201 at the top of the casing 12.

[0059] The running wheel assembly 20 includes a pair of front running wheels 21 and a pair of rear running wheels 22. The front running wheels 21 and the rear running wheels 22 are used to drive the lawn mower 100 while also supporting the lawn mower 100. The front running wheels 21 are universal wheels, and the rear running wheels are drive wheels. The lawn mower 100 is driven by the drive wheels for movement, and steered by the universal wheels. The drive wheels and the universal wheels at least partially protrude from below the housing to improve the maneuverability of the lawn mower 100. Furthermore, the diameter of the drive wheels is larger than the diameter of the universal wheels to enhance the stability of the lawn mower 100 during travel. The specific structure of the running wheel assembly 20 can adopt existing technical solutions and will not be described in detail here.

[0060] As shown in Figures 3 to 5, the visual module 30 includes a camera 31 and lighting devices 32 located on both sides of the camera 31. The camera 31 and the lighting device 32 are both tilted toward the ground and form an angle of 30° to 50° with the horizontal direction (such as angle a in Figure 5). It can be understood that the height of the lighting device 32 is higher than the height of the opening 1201 at the top of the housing 12. At the same time, the lighting device 32 is set to be located on both sides of the camera 31, so that fill light can be provided on both sides of the camera 31, ensuring that the camera 31 can accurately capture the working area in front. The camera 31 and the lighting device 32 are set to tilt toward the ground, so as to avoid the lighting device 32 affecting the user, and at the same time, the downward capture range of the camera 31 can be increased. Preferably, the angle at which the camera 31 is tilted toward the ground is the same as the angle at which the lighting device 32 is tilted toward the ground, both of which are 40°. At this time, the lighting effect is best.

[0061] It is understandable that the front end of the camera 31 is also provided with glass, which can protect the camera 31 from impact and also has the effect of dustproof and waterproof.

[0062] As shown in Figures 6 and 7, the lighting device 32 is a lamp bead. A control board 13 is provided within the housing 12. The lamp bead is arranged in an array on the control board 13 and is controlled by the control board 13. The visual module 30 also includes a sensor electrically connected to the control board 13. The sensor is located near the camera 31 and is used to detect the brightness of the external environment and transmit the detected data to the control board 13, which then controls the lighting of the lamp bead.

[0063] The sensor is set close to the camera 31 so that it can better sense the brightness of the external environment; of course, in other embodiments, the sensor can also be set at other positions, as long as it is convenient to sense the brightness of the external environment, and there is no limitation here.

[0064] When the lawn mower 100 is in operation and the sensor detects that the ambient brightness is lower than a preset value, the control board 13 controls the lamp beads to light up to illuminate the front working area. "The lawn mower 100 is in operation" herein includes the lawn mower 100 in normal operation, mowing, pausing within the working area, and returning to the base station for charging, without limitation.

[0065] The sensor is an existing sensor that can send out different signals according to the different brightness detected, and then make the control board 13 send out different instructions to control the lamp beads to light up or go out.

[0066] As shown in Figures 1 and 2, the lawn mower 100 also includes an RTK antenna 40 and a radar 50. The RTK antenna 40 is arranged on the top of the housing 12 and behind the camera 31. The radar 50 is arranged on the front side of the housing 12 and below the camera 31. The camera 31, the RTK antenna 40 and the radar 50 are all covered by the housing 12 to prevent rain and dust from damaging the camera 31, the RTK antenna 40 and the radar 50.

[0067] The RTK antenna 40 is used to receive satellite signals and signals from the RTK base station, thereby locating the current position of the lawn mower 100. The radar 50 is used to detect obstacles within the working area to ensure that the lawn mower 100 can move normally. In other words, the camera 31 and the radar 50 both supplement RTK navigation.

[0068] As shown in Figures 6 and 7 , the vision module 30 also includes a bracket 33, which is vertically mounted within the fuselage 10. The bracket 33 is fixedly connected to the chassis 11 at its bottom and extends beyond the housing 12 at its top. The housing 12 includes an opening for the top of the bracket 33 to pass through. In other words, the camera 31, lighting device 32, RTK antenna 40, and radar 50 are all secured to the fuselage 10 via the bracket 33.

[0069] The bracket 33 includes a column 331, a fixing portion 332 protruding from the top of the column 331 toward the front side of the lawn mower 100, and a positioning platform 333 extending horizontally from the top of the column 331 toward the rear side of the lawn mower 100. The camera 31 is fixed at the middle position of the fixing portion 332. The lighting device 32 is also fixed on the fixing portion 332 and is located on both sides of the camera 31. The radar 50 is fixed on the fixing portion 332 and is located below the lighting device 32. The RTK antenna 40 is fixed on the positioning platform 333.

[0070] The column 331 is provided with two fixing legs 330 , which are fixedly connected to the chassis 11 via screws 60 , so that the bracket 33 can be stably erected on the chassis 11 .

[0071] The fixing portion 332 includes a first fixing plate 334, first and second fixing members 335 and 336 extending horizontally from either side of the first fixing plate 334, and a second fixing plate 337 positioned below the first fixing plate 334. A positioning block 338 is provided on the side of the second fixing plate 337 near the pillar 331. The camera 31 is mounted on the first fixing plate 334 and held in place by the positioning block 338. The lighting device 32 is held in place by the first and second fixing members 335 and 336. The radar 50 is mounted on the second fixing plate 337.

[0072] Because the camera 31 and the lighting device 32 need to be tilted toward the ground, the first fixing plate 334 is configured to be tilted accordingly. The top of the camera 31 is fixedly connected to the positioning post 3340 at the top of the first fixing plate 334, and the bottom is trapped between the positioning block 338 and the first fixing plate 334, thereby securing the camera 31. Because the lighting device 32 is placed on the control board 13, the top of the control board 13 is secured by the first fixing member 335 and the second fixing member 336, while the bottom is positioned near and fixed above the radar 50. The radar 50 is secured to the second fixing plate 337 via screws 60.

[0073] Of course, the structures for fixing the camera 31, the lighting device 32 and the radar 50 can also be other structures, which are not limited here.

[0074] The chassis 11 is formed with an upwardly extending hollow protrusion 321. The vision module 30, the RTK antenna 40, and the radar 50 are mounted within the protrusion 321. The protrusion 321 is provided with a light-transmitting hole 322. The height of the light-transmitting hole 322 is lower than that of the lighting device 32, thereby slanting the light of the lighting device 32 downward. In one embodiment of the present application, the lowest point of the lighting device 32 is higher than the highest point of the light-transmitting hole 322.

[0075] In summary, the lawn mower 100 of the present invention is provided with a camera 31 on the top front side of the body 10 and lighting devices 32 on both sides of the camera 31, so that when the light is dim, the lighting device 32 can provide illumination to ensure that the visual module 30 can accurately identify the working area when the lawn mower 100 is moving. In addition, by setting the camera 31 and the lighting device 32 to be tilted toward the ground and forming an angle of 30° to 50° with the horizontal direction, it is possible to ensure that the lighting device 32 accurately illuminates the working area. Compared with the prior art, the lawn mower 100 of the present invention not only improves the working efficiency of the camera 31 and the mowing efficiency, but also can work at any time.

[0076] 8 to 9 , the housing 12 of the lawn mower 100 is provided with a flip cover 120 that can be flipped open for user convenience. The housing 12 can be applied to the lawn mower 100 of this embodiment as well as to other types of tools, and the present invention is not limited thereto.

[0077] As shown in Figures 10 to 12, the housing 12 includes a base cover 110 and a flip cover 120. The base cover 110 is provided with a limiting portion 115 and an upper end surface 114. The limiting portion 115 protrudes downward from the inner wall surface 116 of the base cover 110. The flip cover 120 is provided with a connecting portion 121. The flip cover 120 is rotatably connected to the base cover 110 along the pivot axis through the connecting portion 121, wherein a first limiting groove 1211 and a second limiting groove 1212 are provided near the pivot axis. When the limiting portion 115 is limited and accommodated in the first limiting groove 1211, the flip cover 120 is in a closed state, and the flip cover 120 remains parallel to the upper end surface 114 of the base cover 110; when the limiting portion 115 is limited and accommodated in the second limiting groove 1212, the flip cover 120 is in an open state, and the flip cover 120 rotates to be substantially perpendicular to the upper end surface 114 and remains fixed.

[0078] When the flip cover 120 is in the open state, even if the flip cover 120 is affected by external forces such as wind or its own gravity, the flip cover 120 will not flip over easily because the limiting portion 115 is limited and accommodated in the second limiting groove 1212. The flip cover 120 can be better maintained in the open state, which is convenient for users to operate and brings a better user experience. At the same time, the first limiting groove 1211 can also make the flip cover 120 more tightly closed when it is in the closed state, and it will not bounce open easily even if there is a bump.

[0079] As shown in Figure 12, the first limiting groove 1211 and the second limiting groove 1212 are both recessed inward from the outer wall of the connecting portion 121, and the first limiting groove 1211 and the second limiting groove 1212 are spaced apart from each other. The first limiting groove 1211 and the second limiting groove 1212 are both integrally formed, making installation more convenient.

[0080] A connecting hole 1213 is formed on the connecting portion 121, and the pivot shaft passes through the connecting hole 1213 and is fixedly connected to the base cover 110, so that the flip cover 120 rotates around the base cover 110 with the pivot shaft as the rotation axis. The connecting structure is simple, and assembly and disassembly are relatively quick and convenient.

[0081] In this embodiment, the limiting portion 115 is a limiting protrusion, and the first limiting groove 1211 and the second limiting groove 1212 are arranged around the outer circumference of the connecting hole 1213. When the flip cover 120 rotates about the pivot axis, the limiting protrusion can switch between the first limiting groove 1211 and the second limiting groove 1212. The limiting portion 115 with a limiting protrusion structure can effectively cooperate with the first limiting groove 1211 and the second limiting groove 1212 to limit the rotation of the flip cover 120. In other embodiments, the limiting portion 115 can also have other structures, and the present invention is not limited to this.

[0082] As shown in Figures 13 to 14, the flip cover 120 includes a cover plate 124, and the connecting portion 121 bends downward and extends from one end of the cover plate 124, so that the first limiting groove 1211 and the second limiting groove 1212 are close to the cover plate 124. When the flip cover 120 is in the closed state, the cover plate 124 is coplanar with the upper end surface 114 of the base cover 110; when the flip cover 120 is in the open state, the cover plate 124 is perpendicular to the base cover 110.

[0083] As shown in Figures 15 and 16, the base cover 110 is provided with a first mounting position 111 and supporting platforms 113 located on both sides of the first mounting position 111. The supporting platforms 113 are configured to support the flip cover 120. The flip cover 120 includes a cover plate 124. The side of the cover plate 124 facing the base cover 110 is provided with abutment posts 123. When the cover plate 124 is in the closed position, the abutment posts 123 abut against the supporting platforms 113. The cover plate 124 is of the same size as the first mounting position 111. When the cover plate 124 and the upper end surface 114 of the base cover 110 are coplanar, the cover plate 124 covers the first mounting position 111. To prevent the cover plate 124 from overturning and to reduce the weight borne by the connecting portion 121, supporting platforms 113 extend inwardly on both sides of the first mounting position 111. The abutment posts 123 of the cover plate 124 abut against the supporting platforms 113, and the supporting platforms 113 provide stable support for the cover plate 124.

[0084] As shown in FIG9 , the housing 12 further includes a front cover 140 and a rear cover 130 . Both the front cover 140 and the rear cover 130 are snap-fitted to the base cover 110 to better protect the internal structure of the lawn mower 100 , while enhancing the aesthetics of the lawn mower 100 and providing a better visual experience.

[0085] The lawn mower 100 is equipped with a cutting assembly 160 for mowing. The housing 12 also includes a chassis 11, which is fixedly connected to the housing 12. The cutting assembly 160 is movably connected to the chassis 11 and can be raised and lowered relative to the chassis 11. To cope with uneven terrain and obstacles, the cutting assembly 160 in the lawn mower 100 is configured to be raised and lowered relative to the chassis 11, allowing the lawn mower 100 to better adapt to terrain, better overcome obstacles, and ensure better mowing results.

[0086] The lawn mower 100 includes a detection assembly 1230 configured to detect obstacles in the direction of travel of the lawn mower 100. The base cover 110 has a second mounting position 112 on the side near the drive wheel 22. The detection assembly 1230 is mounted in the second mounting position 112. The detection assembly includes the radar and camera described in the above embodiments. To better detect road conditions during autonomous travel, the lawn mower 100 is equipped with the detection assembly 1230. The second mounting position 112 facilitates the installation of the detection assembly 1230. The detection radar and camera provide more information about the travel route, making the lawn mower 100 more intelligent.

[0087] The lawn mower 100 is provided with a switch assembly 1240. In order to facilitate the control of the start and stop of the lawn mower 100 through the switch assembly 1240, a third mounting position 122 is provided in the cover 124, and the switch assembly 1240 is directly placed in the third mounting position 122. In this way, even when the cover 124 covers the first mounting position 111, the user can directly touch the switch assembly 1240 without having to open the flip cover 120 every time the switch assembly 1240 is touched. The operation is more convenient. At the same time, compared with protruding the switch assembly 1240 from the upper end surface 114 of the base cover 110, the setting here can also better protect the switch assembly 1240.

[0088] In summary, the housing 12 of the present invention provides a downwardly protruding limiting portion 115 on the inner wall surface 116 of the base cover 110, and provides a first limiting groove 1211 and a second limiting groove 1212 on the flip cover 120. Therefore, when the flip cover 120 is in a closed state or an open state, the limiting portion 115 and the corresponding limiting grooves cooperate with each other to make the flip cover 120 be in the corresponding closed state or open state, thereby limiting the flip cover 120 from flipping due to the influence of external force, thereby improving the user experience.

Claims

1. A lawn mower, characterized in that: include: body; Travel wheel assemblies are arranged on both sides of the fuselage; as well as A visual module is arranged on the top of the fuselage; Wherein, the visual module includes a camera and a lighting device, and the camera and the lighting device are both inclined toward the ground and form an angle of 30° to 50° with the horizontal direction.

2. The lawn mower according to claim 1, characterized in that The angle at which the camera is inclined toward the ground is the same as the angle at which the lighting device is inclined toward the ground.

3. The lawn mower according to claim 1, characterized in that: The lighting device is a lamp bead. A control panel is arranged in the body. The lamp bead is arranged on the control panel and is controlled by the control panel.

4. The lawn mower according to claim 3, characterized in that The visual module also includes a sensor electrically connected to the control board. The sensor is arranged close to the camera and is used to detect the brightness of the external environment and transmit the detected data to the control board.

5. The lawn mower according to claim 4, characterized in that When the lawn mower is in working state and the sensor detects that the brightness of the external environment is lower than a preset value, the control board controls the lamp beads to light up.

6. The lawn mower according to claim 1, characterized in that The lawn mower also includes an RTK antenna and a radar. The RTK antenna is arranged on the top of the fuselage and is located behind the camera. The radar is arranged on the front side of the fuselage and is located below the camera. The camera, RTK antenna and radar are all covered by the fuselage.

7. The lawn mower according to claim 6, characterized in that The fuselage includes a chassis and a casing, the casing cover is arranged on the chassis and fixedly connected to the chassis, the running wheel assembly is arranged on both sides of the chassis, and the visual module is arranged on the fuselage and exposed from an opening at the top of the casing.

8. The lawn mower according to claim 7, characterized in that The visual module also includes a bracket, which is vertically arranged in the fuselage, with a bottom end fixedly connected to the chassis and a top end extending beyond the casing. The casing is provided with an opening for the top end of the bracket to pass through.

9. The lawn mower according to claim 8, characterized in that The support comprises a column, A fixing portion protrudes from the top of the column toward the front side of the lawn mower, and A positioning platform extends horizontally from the top of the column toward the rear side of the lawn mower, The camera is fixed at the middle position of the fixing part, the lighting device is fixed on the fixing part and is located on both sides of the camera, the radar is fixed on the fixing part and is located below the lighting device, and the RTK antenna is fixed on the positioning platform.

10. The lawn mower according to claim 9, characterized in that The fixing portion includes a first fixing plate, A first fixing member and a second fixing member are located on both sides of the first fixing plate and are horizontally overhanging, and A second fixing plate is located below the first fixing plate, A positioning block is provided on one side of the second fixing plate close to the column, the camera is laid on the first fixing plate and clamped and fixed by the positioning block, the lighting equipment is buckled and fixed by the first fixing piece and the second fixing piece, and the radar is laid on the second fixing plate.

11. The lawn mower according to claim 7, characterized in that The housing comprises: A base cover, comprising a limiting portion and an upper end surface, wherein the limiting portion protrudes downward from an inner wall surface of the base cover; and The flip cover comprises a connecting portion, and the flip cover is rotatably connected to the base cover along a pivot axis through the connecting portion; Wherein, the connecting portion is provided with a first limiting groove and a second limiting groove near the pivot axis, when the limiting portion is limited and accommodated in the first limiting groove, the flip cover is in a closed state, and the flip cover remains parallel to the upper end surface of the base cover; when the limiting portion is limited and accommodated in the second limiting groove, the flip cover is in an open state, and the flip cover is rotated to be substantially perpendicular to the upper end surface and remains fixed.

12. The lawn mower according to claim 11, characterized in that The first limiting groove and the second limiting groove are both formed by being recessed inwardly from the outer wall surface of the connecting portion, and the first limiting groove and the second limiting groove are arranged at an interval from each other.

13. The lawn mower according to claim 11, characterized in that The connecting portion is provided with a connecting hole, the pivot shaft passes through the connecting hole and is fixedly connected to the base cover, so that the flip cover can rotate around the pivot shaft.

14. The lawn mower according to claim 13, characterized in that The limiting portion is a limiting convex point, and the first limiting groove and the second limiting groove are arranged around the outer circumference of the connecting hole, so that when the flip cover rotates around the pivot axis, the limiting convex point can switch between the first limiting groove and the second limiting groove.

15. The lawn mower according to claim 11, characterized in that The flip cover includes a cover plate, the connecting portion is bent downward and extends from one end of the cover plate, and the first limiting groove and the second limiting groove are close to the cover plate. When the flip cover is in a closed state, the cover plate is coplanar with the upper end surface of the base cover; when the flip cover is in an open state, the cover plate is perpendicular to the base cover.

16. The lawn mower according to claim 15, characterized in that The base cover is provided with a first mounting position and a supporting platform located on both sides of the first mounting position, the supporting platform is configured to support the flip cover, and an abutment column is provided on the side of the cover plate facing the base cover. When the flip cover is in a closed state, the abutment column abuts against the supporting platform.

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