Mowing robot

Abstract

A mowing robot (10), comprising: a housing, comprising a first shell (21) and a second shell (11) connected to each other, wherein the second shell (11) and the first shell (21) are distributed up and down; an execution mechanism, provided on the first shell (21) and used for executing an action, the action comprising driving the housing to move and cutting; and a control module (12), provided on the second shell (11), electrically connected to the execution mechanism, and used for controlling the execution mechanism to execute an action. According to the mowing robot (10), a housing is divided into a second shell (11) and a first shell (21) which are independent of each other, an execution mechanism is provided on the first shell (21), and a control module (12) is provided on the second shell (11), so as to isolate heat sources of the execution mechanism and the control module (12), so that the impact of the heating amount of the execution mechanism on heat dissipation of the control module (12) is reduced by means of physical isolation, thereby suppressing the temperature rise of the control module (12).

Description

lawn mowing robot Technical Field

[0001] The present application relates to the technical field of lawn mowing equipment, and more specifically, to a lawn mowing robot. Background Art

[0002] A lawn mower, as a device for mowing lawns, brings convenience to lawn care. In related technologies, the mower's body is provided with a mounting cavity, where components such as the control circuit board and motor are installed. These components generate heat during operation. This is particularly true for intelligent robotic lawn mowers, as they possess the ability to move autonomously. The control circuit board performs a large amount of computation, resulting in high heat generation and temperatures. Therefore, temperature control of the control circuit board has become a pressing technical issue.

[0003] Summary of the Invention

[0004] The purpose of this application is to provide a lawn mowing robot and a lawn mowing system to solve the technical problem in the prior art that the control module and the actuator are arranged in the same installation cavity, resulting in poor heat dissipation effect.

[0005] To achieve the above objectives, the present application provides a lawn mowing robot in a first aspect, comprising:

[0006] The housing comprises a first housing and a second housing connected to each other, wherein the second housing and the first housing are arranged vertically;

[0007] an actuator, disposed on the first housing, for performing an action, the action including driving the housing to move and performing cutting;

[0008] The control module is arranged on the second housing and is electrically connected to the actuator, and is used to control the actuator to perform the action.

[0009] The beneficial effect of the lawn mowing robot provided by the present application is at least that: by dividing the housing into a second housing and a first housing that are independent of each other, the actuator is arranged in the first housing, and the control module is arranged in the second housing, so as to isolate the two heat sources of the actuator and the control module, reduce the impact of the heat generated by the actuator on the heat dissipation of the control module through physical isolation, and suppress the temperature increase of the control module. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0011] FIG1 is a schematic diagram of the structure of a lawn mowing robot provided in an embodiment of the present application;

[0012] FIG2 is a schematic structural diagram of the lawn mower robot provided by an embodiment of the present application when the second housing and the first housing are separated;

[0013] FIG3 is a side view of the lawn mowing robot in FIG2 ;

[0014] FIG4 is a schematic structural diagram of a decorative housing installed on a second housing according to an embodiment of the present application;

[0015] FIG5 is a bottom view of the second housing provided in an embodiment of the present application;

[0016] FIG6 is a schematic structural diagram of the second housing provided by an embodiment of the present application without the upper housing and the decorative housing installed;

[0017] FIG7 is a schematic diagram of the installation of a control module provided in an embodiment of the present application;

[0018] FIG8 is another structural diagram of the second housing provided by an embodiment of the present application when the upper housing is not installed;

[0019] FIG9 is a schematic structural diagram of the bottom shell of the second housing provided in an embodiment of the present application;

[0020] FIG10 is a schematic structural diagram of the channel structure of the bottom shell in FIG9 after a heat dissipation plate is provided;

[0021] FIG11 is a schematic structural diagram of a second housing provided in an embodiment of the present application without a decorative housing and a key module;

[0022] FIG12 is a schematic structural diagram of a camera module provided in an embodiment of the present application;

[0023] FIG13 is a schematic structural diagram of the camera module in FIG12 without an image pre-processing board and a heat sink;

[0024] FIG14 is a schematic structural diagram of the camera module in FIG12 without a heat sink;

[0025] FIG15 is a schematic structural diagram of a camera module provided by an embodiment of the present application when installed on a front housing;

[0026] FIG16 is a schematic structural diagram of a front housing provided in an embodiment of the present application;

[0027] FIG17 is a top view of a key module provided in an embodiment of the present application;

[0028] FIG18 is a bottom view of a key module provided in an embodiment of the present application;

[0029] FIG19 is a schematic diagram of the structure of an emergency stop button provided in an embodiment of the present application;

[0030] FIG20 is a schematic structural diagram of a first housing provided in an embodiment of the present application;

[0031] FIG21 is a schematic structural diagram of a chassis in a first housing according to an embodiment of the present application;

[0032] FIG22 is a top view of the cover of the first housing provided in an embodiment of the present application;

[0033] FIG23 is a bottom view of the cover of the first housing provided in an embodiment of the present application;

[0034] FIG24 is a schematic structural diagram of a chassis in a first housing according to an embodiment of the present application;

[0035] FIG25 is a schematic structural diagram of the first housing provided in an embodiment of the present application when no cover is provided;

[0036] FIG26 is a bottom view of the cutting mechanism provided in an embodiment of the present application when it is disposed in the first housing;

[0037] FIG27 is a bottom view of a cutting mechanism provided in an embodiment of the present application;

[0038] FIG28 is a schematic structural diagram of a cutting mechanism provided in an embodiment of the present application;

[0039] FIG29 is a schematic diagram of the structure of a height adjustment device provided in an embodiment of the present application provided on a chassis;

[0040] FIG30 is a schematic structural diagram of a height adjustment device provided in an embodiment of the present application;

[0041] FIG31 is a schematic structural diagram of a driven wheel module provided in an embodiment of the present application;

[0042] FIG32 is a schematic diagram of the internal structure of a driven wheel module provided in an embodiment of the present application;

[0043] FIG33 is a schematic structural diagram of a driving wheel module provided in an embodiment of the present application;

[0044] FIG34 is a schematic diagram of the structure of a walking motor provided in an embodiment of the present application;

[0045] FIG35 is a schematic structural diagram of a first wheel body provided in an embodiment of the present application;

[0046] FIG36 is a schematic structural diagram of a collision module provided in an embodiment of the present application;

[0047] FIG37 is a schematic structural diagram of the collision module in FIG36 from another angle;

[0048] FIG38 is a schematic structural diagram of a support portion provided in an embodiment of the present application;

[0049] FIG39 is an exploded view of a collision body provided in an embodiment of the present application;

[0050] FIG40 is a schematic diagram of the structure of a charging head provided in an embodiment of the present application;

[0051] Figure 41 is a structural diagram of the base station provided in an embodiment of the present application.

[0052] In the figures, the following reference numerals are provided: 10, lawn mower robot; 11, second housing; 111, upper housing; 1111, second mounting port; 1112, communication port; 112, bottom housing; 1121, first mounting port; 1122, tail housing; 1123, air guide window; 113, decorative housing; 114, front housing; 1141, window opening; 12, control module; 121, connecting column; 122, base plate; 123, core board; 13, heat dissipation structure; 131, channel structure; 132, channel cavity; 133, opening; 134, heat dissipation plate; 135, air inlet; 136, air outlet; 137, fan; 138, filter; 139, heat conduction block; 14, communication module; 141, communication antenna; 142, communication control board; 15. Camera module; 151. Base; 152. Front end; 153. Rear end; 154. Accommodation cavity; 155. Lens; 156. Camera assembly; 157. Image pre-processing board; 158. Radiator; 16. Key module; 161. Key housing; 162. Key circuit board; 163. Key switch; 164. Emergency stop button; 165. Third detection unit; 166. Third trigger unit; 167. Elastic sheet; 17. First positioning module; 171. Positioning antenna; 172. Positioning chip; 18. Handle; 21. First housing; 211. Chassis; 212. Cover; 2121. Power cable hole; 2122. Power cable hole 22. Cutting mechanism; 221. Cutting motor; 222. Cutting disc; 223. Blade; 225. Mounting slot; 226. Connecting seat; 227. First mounting seat; 23. Height adjustment device; 231. Height adjustment motor; 232. Transmission assembly; 233. Second mounting seat; 234. Swing arm; 235. Screw; 236. Gear; 24. Height detection mechanism; 241. First detection unit; 242. First trigger unit; 25. Driven wheel module; 251. Second wheel body; 252. Conductive block; 253. Elastic electrode sheet; 254. Second mounting compartment; 255. Mounting arm; 256. Fourth through hole; 257. First end; 258. Second end; 26. Driving wheel module; 261. Travel motor; 262. First wheel body; 263. First mounting compartment; 264. Third through hole; 265. First connecting ear; 266. First connecting part; 27. Collision module; 271. Support part; 272. Detection part; 273. Movable cover; 274. Placement cavity; 275. Elastic part; 276. Trigger part; 28. Battery compartment; 281. Charging head; 282. Charging electrode; 31. Charging pile; 41. Base station; 411. Second positioning module. DETAILED DESCRIPTION

[0053] In order to make the technical problems, technical solutions and beneficial effects to be solved by this application more clearly understood, this application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0054] It should be noted that when a component is referred to as being "fixed on" or "disposed on" another component, it may be located directly or indirectly on the other component. When a component is referred to as being "connected to" another component, it may be directly or indirectly connected to the other component. The directions or positions indicated by the terms "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. are based on the directions or positions shown in the accompanying drawings and are only for the convenience of description and cannot be understood as limitations on this technical solution. The terms "first" and "second" are only used for the purpose of convenience of description and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features. "Multiple" means two or more, unless otherwise clearly and specifically defined.

[0055] According to a first aspect of an embodiment of the present application, a lawn mowing robot is provided. The lawn mowing robot according to an embodiment of the present application is described below with reference to the accompanying drawings.

[0056] Please refer to Figures 1 to 40, which show the structural schematic diagrams of the overall structure and various parts of the lawn mower robot 10 of the present application. The lawn mower robot 10 includes a housing, an actuator and a control module 12.

[0057] 1 to 3 , the housing is divided into two parts, including a first housing 21 and a second housing 11 connected to each other. The second housing 11 and the first housing 21 are distributed up and down. The actuator is arranged on the first housing 21 for performing actions, including driving the housing to move and performing cutting. The control module 12 is arranged on the second housing 11 and is electrically connected to the actuator for controlling the actuator to perform actions.

[0058] It is understandable that after the first housing 21 and the second housing 11 are connected to form a housing, the installation spaces of the first housing 21 and the second housing 11 are separated from each other, forming physical isolation.

[0059] Different from the traditional installation method of arranging the actuator and the control module 12 in the same area, the present application improves the casing structure and divides the casing into a second casing 11 and a first casing 21 which are independent of each other. The actuator is arranged in the first casing 21 and the control module 12 is arranged in the second casing 11 to isolate the two heat sources of the actuator and the circuit structure. It can be understood that the actuator is a device for performing actions, which includes motors, sensors and other components that are prone to heat. When the lawn mower robot 10 is working, the heat generated by the motor and sensor in the actuator on the first casing 21 will be isolated by the first casing 21 and the second casing 11. The influence of the heat generated by the actuator on the heat dissipation of the control module 12 is reduced by physical isolation, and the temperature increase of the control module 12 is suppressed. At the same time, the second casing 11 can also dissipate heat for the control module 12 through the heat dissipation structure 13, reducing the risk of excessive temperature of the control module 12.

[0060] Furthermore, when maintaining the actuator and the control module 12 , the corresponding second housing 11 and the first housing 21 can be separately disassembled and assembled, making maintenance more convenient.

[0061] When sealing is required, the separately arranged second housing 11 and first housing 21 can separately seal the actuator and the control module 12. For example, when the sealing of the first housing 21 is destroyed, the second housing 11 can still remain sealed, and the control module 12 can still maintain normal operation. In traditional technology, the actuator and the control module 12 are arranged in the same area and then sealed as a whole. Once the seal is destroyed, both the actuator and the control module 12 will be affected. Compared with the overall sealing, this separate sealing method has improved protection.

[0062] When in use, the bottom of the first housing 21 is close to the ground, and the second housing 11 is located above the first housing 21 and is relatively high. This can reduce the probability of the second housing 11 coming into contact with green plants or green grass, and prevent dew, rain, etc. on the grass from wetting the second housing 11. By arranging the control module 12 on the second housing 11, the isolation and blocking of the first housing 21 can reduce the impact of water vapor on the control module 12.

[0063] Furthermore, the first housing 21 and the second housing 11 can be detachably connected by screwing. For example, mounting holes are provided on the second housing 11 and the first housing 21. After the second housing 11 and the first housing 21 are aligned, bolts are screwed into the mounting holes to fix the second housing 11 and the first housing 21. By unscrewing the bolts, the second housing 11 and the first housing 21 can be disassembled. Of course, the second housing 11 and the first housing 21 can also be detachably connected by snapping. This application does not specifically limit the specific connection method. Any method that can achieve detachable connection can be used as a technical solution for connecting the second housing 11 and the first housing 21.

[0064] 4 to 11 , a heat dissipation structure 13 is provided on the second housing 11 . The heat dissipation structure 13 is used to dissipate heat from the control module 12 .

[0065] In some embodiments, referring to Figures 4-5, the second shell 11 includes an upper shell 111 and a bottom shell 112. The upper shell 111 is fixed to the bottom shell 112, and the connection method can be screwed or clamped to facilitate subsequent disassembly and maintenance. At least one of the upper shell 111 and the bottom shell 112 has a concave cavity. After the upper shell 111 is installed on the bottom shell 112, it is enclosed with the bottom shell 112 to form a sealed cavity. Continuing to refer to Figures 4-5, the upper shell 111 has a deep concave cavity, and the bottom shell 112 has a shallow concave cavity. After the upper shell 111 is buckled onto the bottom shell 112, the deep concave cavity and the shallow concave cavity are docked and form a sealed cavity. The sealed cavity provides an installation space, and the control module 12 is arranged in the sealed cavity to reduce the interference of external moisture and debris on the control module 12.

[0066] Further, referring to Figures 9-10, the heat dissipation structure 13 includes a channel structure 131 arranged on the bottom shell 112, the channel structure 131 is independent of the sealed cavity, the control module 12 is arranged in the sealed cavity and located outside the channel structure 131, and the control module 12 rests on the side wall of the channel structure 131.

[0067] The channel structure 131 is provided as a ventilation channel. When the lawn mower robot 10 moves, a flowing airflow is formed in the channel structure 131. During the air flow, heat exchange can be performed with the sealed cavity, and part of the heat in the sealed cavity can be taken away to achieve the purpose of cooling. The control module 12 is placed on the channel structure 131 with a small distance therebetween. The heat exchange efficiency between the airflow in the channel structure 131 and the control module 12 is higher, which can improve the heat dissipation efficiency of the channel structure 131 to the control module 12.

[0068] It should be noted that the overlapping in the above embodiment means that the control module 12 directly or indirectly contacts the side wall of the channel structure 131, or the control module 12 is arranged in an area close to the channel structure 131, that is, the control module 12 can directly contact the channel structure 131, or can contact the channel structure 131 through other media, or the control module 12 is close to the channel structure 131, and the distance between the control module 12 and the channel structure 131 is close to zero, in order to make the control module 12 close to or contact the channel structure 131 to improve the heat exchange efficiency between the control module 12 and the channel structure 131.

[0069] In the following embodiments, when describing that a certain component rests on another component, it means that the certain component is directly or indirectly in contact with the other component, or that the certain component is disposed in an area close to the other component.

[0070] Furthermore, referring to Figure 10 , the heat dissipation structure 13 also includes a heat sink 134 disposed on the bottom housing 112. Heat sink 134 forms part of the sidewall of the channel structure 13, and the control module 12 rests on heat sink 134. Heat sink 134 is a plate with excellent thermal conductivity, preferably an aluminum alloy plate for more efficient heat transfer. When the control module 12 rests on heat sink 134, the heat generated by the control module 12 is quickly transferred through heat sink 134 and the channel structure 131, dissipating heat from the control module 12 more efficiently.

[0071] As the name suggests, the channel structure 131 refers to a channel structure similar to a pipe, which is independent of the sealed cavity. That is, the channel structure 131 runs through the sealed cavity, but the flowing air in the channel structure 131 will not be exchanged with the air in the sealed cavity, and the airflow in the channel structure 131 will not affect the components in the sealed cavity, thereby ensuring the sealing of the sealed cavity.

[0072] In some embodiments, referring to Figure 9, a channel cavity 132 for gas flow is provided in the channel structure 131. The channel cavity 132 can be integrally formed on the bottom shell 112, or can be detachably connected to the bottom shell 112 by screwing or other means. The channel structure 131 is provided with a first through hole 133 connecting to the channel cavity 132 along the extension direction. The first through hole 133 is blocked by a heat sink 134 to make the channel cavity 132 independent of the sealed cavity. After such arrangement, a strip-shaped heat sink 134 will be formed on the sealed channel structure 131, and the inner side of the heat sink 134 is directly in contact with the airflow in the channel cavity 132, and the outer side of the heat sink 134 is exposed to the outside of the channel structure 131. There is no other medium blocking the middle, thereby ensuring heat transfer efficiency.

[0073] In addition, the heat dissipation plate 134 is a strip plate arranged along the extension direction of the channel structure 131, so that the airflow in the entire channel structure 131 can exchange heat with the heat in the sealed cavity through the heat dissipation plate 134, further improving the heat dissipation effect of the sealed cavity.

[0074] Among them, in order to further improve the heat dissipation efficiency, heat dissipation fins are arranged on the inner side of the heat dissipation plate 134. The outer side of the heat dissipation plate 134 is flat. The control module 12 is placed on the outer side of the heat dissipation plate 134. The heat dissipation fins on the inner side of the heat dissipation plate 134 extend into the channel structure 131. The heat dissipation fins make the contact area between the airflow in the channel structure 131 and the heat dissipation plate 134 larger, thereby improving the heat exchange efficiency and heat dissipation effect.

[0075] In some embodiments, in order to further enhance the heat dissipation effect, a fan 137 is provided in the channel structure 131. The fan 137 is used to adjust the gas flow rate in the channel structure 131. The fan 137 can accelerate the flow of gas in the channel structure 131, accelerate the heat exchange efficiency, and thereby improve the heat dissipation effect.

[0076] Furthermore, the channel structure 131 has an air inlet 135 and an air outlet 136 at either end, respectively. The air inlet 135 and the air outlet 136 are located at either end of the bottom housing 112. Filters 138 are installed on both the air inlet 135 and the air outlet 136. Optionally, the direction from the air inlet 135 to the air outlet 136 corresponds to the direction of travel of the lawn mower robot 10. To prevent debris such as fallen leaves from being drawn into the channel structure 131, or to prevent insects such as cockroaches from entering the cooling duct and affecting the fan 137, filters 138 are installed at both the air inlet 135 and the air outlet 136.

[0077] In some embodiments, referring to Figures 6-8, the control module 12 is fixed to the bottom shell 112 through the connecting column 121 and is located in the sealed cavity. The control module 12 is located above the heat sink 134 and spans the channel structure 131. At least part of the control module 12 is in contact with the heat sink 134 through the heat conductive block 139. The heat conductive block 139 is arranged between the control module 12 and the heat sink 134 as a heat transfer medium to make up for the distance between the control module 12 and the heat sink 134. The heat on the control module 12 can be transferred to the heat sink 134 through the heat conductive block 139 and dissipated.

[0078] Further, referring to Figure 7, the control module 12 includes a substrate 122 and a core board 123. The substrate 122 is fixed on the bottom shell 112 and is located above the heat sink 134. The core board 123 is arranged on one side of the substrate 122 and is located between the substrate 122 and the heat sink 134. The core board 123 is in contact with the heat sink 134.

[0079] A heat conducting block 139 is provided between the core board 123 and the heat sink 134 . The heat conducting block 139 is bonded to the core board 123 via a first heat conducting adhesive layer, and is bonded to the heat sink 134 via a second heat conducting adhesive layer.

[0080] The substrate 122 is a circuit board, and the core board 123 includes an AI chip (artificial intelligence processor chip). The substrate 122 and the bottom shell 112 are supported and connected by connecting columns 121 to form an installation gap. The core board 123 is located in the installation gap and fixed on the substrate 122. A heat-conducting block 139 is bonded to the core board 123. Because the lawn mowing robot 10 is an intelligent robot, the AI ​​chip on its core board 123 has a large amount of computing power. It is the area on the circuit board that is most prone to heat generation, and it is also the area that most directly affects the performance of the lawn mowing robot 10 after heat generation. Therefore, the heat-conducting block 139 is bonded to the core board 123 by thermally conductive glue to quickly transfer the heat of the core board 123 to the heat dissipation plate 134, thereby specifically improving the heat dissipation efficiency of the core board 123.

[0081] In some embodiments, the robotic lawn mower 10 further includes a communication module 14 disposed within the sealed cavity. The communication module 14 includes a communication antenna 141 and a communication control board 142. Optionally, the communication antenna 141 is a Wi-Fi antenna, and the communication control board 142 is a Wi-Fi board for controlling the Wi-Fi antenna's signal transmission and reception. The communication control board 142 is provided with a communication chip, which may be a Wi-Fi chip. The communication antenna 141 is supported on the bottom housing 112 via mounting posts. The communication circuit board 142 is secured to the base plate 122 and rests on the heat sink 134. The communication chip is electrically connected to the communication antenna 141.

[0082] During the operation of the lawn mower robot 10, when the communication module 14 is sending and receiving signals, the WIFI chip on the communication control board 142 will perform a large amount of calculations, thereby generating a lot of heat, which needs to be dissipated. For this purpose, the communication control board 142 is fixed on the substrate 122 and rests on the heat sink 134. The communication control board 142 is rested on the heat sink 134 in the same way as the control module 12, realizing heat exchange with the airflow in the channel structure 131, thereby realizing heat dissipation of the communication control board 142.

[0083] Furthermore, referring to FIG4 , the second housing 11 further includes a decorative housing 113 , which covers the upper housing 111 and is fixed to the bottom housing 112 . The decorative housing 113 , the upper housing 111 and the bottom housing 112 together form an insulating cavity surrounded by the sealed cavity, and the insulating cavity and the sealed cavity are independent of each other.

[0084] Since the lawn mower robot 10 is working outdoors, sunlight will directly shine on the top of the lawn mower robot 10, causing the temperature of the upper part of the lawn mower robot 10 to rise. The decorative shell 113 is exposed on the upper part of the lawn mower robot 10, which can play a decorative role and also a heat-insulating role, blocking the direct sunlight from the upper shell 111. Through the obstruction of the heat-insulating cavity, the influence of sunlight on the temperature inside the sealed cavity is reduced, preventing the temperature of the control module 12 and other components inside the sealed cavity from being too high. Of course, the decorative shell 113 can also play a role in keeping out the rain.

[0085] Furthermore, the lawn mower robot 10 is also provided with a burning interface electrically connected to the control module 12. The burning interface is arranged in the heat-insulating cavity. In this way, when the firmware needs to be upgraded, the burning interface can be exposed by opening the decorative shell 113, which is convenient and beautiful, and can also reduce the corrosion of the burning interface by rainwater.

[0086] In addition, the lawn mower robot 10 can also be provided with a light board and a speaker electrically connected to the control module 12. The light board and the speaker can serve as a reminder during use. The light board and the speaker are housed in the heat-insulating cavity, making the appearance of the lawn mower robot 10 more neat.

[0087] In some embodiments, referring to Figures 12-15, a first mounting port 1121 connected to the sealed cavity is opened on the bottom shell 112, and a camera module 15 is provided on the bottom shell 112. The camera module 15 is installed on the second shell 11, which is higher and has a better field of view. Low obstacles will not block it, and it can better identify obstacles.

[0088] Specifically, the camera module includes a base 151 , a lens 155 , a camera group 156 , an image pre-processing board 157 and a heat sink 158 . The base body 151 has a front end 152, a rear end 153 and a accommodating cavity 154. The accommodating cavity 154 passes through the front end 152 and the rear end 153. The base body 151 extends into the sealed cavity through the first mounting port 1121. The front end 152 stops at the surface of the bottom shell 112 facing away from the sealed cavity. The rear end 153 is located in the sealed cavity and connected to the bottom shell 1121. The lens 155 is installed at the front end 152 of the base body 151 and covers the accommodating cavity. The camera group 156 and the image pre-processing board 157 are electrically connected to each other. At least part of the camera group 156 is installed in the accommodating cavity 154. The image pre-processing board 157 is used to perform image pre-processing on the image taken by the camera group 156. The image pre-processing includes decrypting the image and adjusting the image size. The radiator 158 is installed at the rear end 153 of the base body 151 and rests on the image pre-processing board 157. At least part of the radiator 158 is located in the sealed cavity.

[0089] Furthermore, camera assembly 156 includes a TOF camera and an RGB camera. The housing 154 includes parallel mounting locations for the TOF and RGB cameras. The TOF and RGB cameras are mounted in their corresponding locations and secured in place by a clamp. The clamp is made of an aluminum alloy with excellent thermal conductivity, thus providing a certain degree of heat dissipation. An image pre-processing board 157 is electrically connected to the TOF and RGB cameras. The image pre-processing board 157 is mounted outside the housing 154 on the side of the clamp away from the TOF and RGB cameras. The image pre-processing board 157 is adjacent to a heat sink 158, which dissipates heat from the image pre-processing board 157.

[0090] Furthermore, a wire hole is provided on the heat sink 158 , through which the wires connected to the image pre-processing board 157 can extend out of the accommodating cavity 154 and connect to the control module 12 , so that the control module 12 can control the camera module 15 .

[0091] Part of the camera module 15 is located inside the sealed cavity, and the other part is located outside the sealed cavity. Specifically, part of the base 151 is stuck in the first mounting port 1121 of the bottom shell 112, the radiator 158 and part of the base 151 are located inside the sealed cavity, and the lens 155 and part of the base 151 are located outside the sealed cavity, which can reduce the influence of water vapor and the like.

[0092] Referring to Figures 12 to 14, the bottom shell 112 has an upright edge and a mounting plate, and the mounting plate is spaced apart from the edge. The base body 151 includes a first step and a second step that are integrally arranged. Projected along the axial direction of the base body 151, the projection of the second step is located within the projection of the first step, and the second step is stacked on the first step. The radiator 158 is installed on the second step, and the first mounting port 1121 is set on the edge and is adapted to the second step on the base body 151.

[0093] During installation, the second step of the base body 151 and the radiator 158 extend into the bottom shell 112 through the first mounting port 1121 and reach the sealed cavity. The second step and the radiator 158 are blocked by the mounting plate and fixed with the mounting plate screws. The radiator 158 is provided with cooling fins located between the two mounting plates. The bottom shell 112 is further provided with a limiting plate to support the surrounding edge and improve the strength of the surrounding edge. The first step of the base body 151 abuts against the surrounding edge, and a circle of card grooves is provided on the surrounding edge. A sealing ring is installed in the card groove, and the first step abuts against the sealing ring. In this way, after the base body 151 is installed on the first mounting port 1121, the first mounting port 1121 can be sealed to ensure that the sealed cavity is in a sealed state.

[0094] In some embodiments, referring to Figures 15-16 , the second housing 11 further includes a front housing 114 having a window opening 1141 corresponding to the lens 155. The front housing 114 is fixedly connected to the bottom housing 112 and the top housing 111, and covers the front end 152 of the base 151. The lens 155 abuts against the edge of the window opening 1141 on the front housing 114. After installation, a certain space is defined between the front housing 114, the bottom housing 112, and the top housing 111. The camera module 15 is located within this space, and the front housing 114 provides protection and shielding for the camera module 15.

[0095] In some embodiments, referring to Figures 4 and 11, a second mounting port 1111 communicating with the sealed cavity is provided on the upper shell 111, and a key module 16 is provided on the upper shell 111. The key module 16 includes a key shell 161, an elastic sheet 167, a key switch 163, and a key circuit board 162.

[0096] Specifically, referring to Figures 17-19 , the key housing 161 is sealedly connected to the second mounting opening 1111. A first through-hole 133 communicating with the sealed cavity is formed on the key housing 161. The key housing 161 has a first side and a second side facing each other, with the first side of the key housing 161 facing the sealed cavity. An elastic sheet 167 is fixed to the first side of the key housing 161 and covers the first through-hole 133. A key switch 163 is disposed on the elastic sheet 167 and movably extends through the first through-hole. A key circuit board 162 is fixed to the first side of the key housing 161 and is located on the side of the elastic sheet 167 away from the key housing 161. A tactile switch corresponding to the key switch 163 is disposed on the key circuit board 162. The key circuit board 162 is electrically connected to the control module 12.

[0097] The button housing 161 can be screwed to the second mounting opening 1111. A concave cavity is formed on the side where the button housing 161 is connected to the upper housing 111. An inner cavity connected to the sealed cavity is formed between the button housing 161 and the upper housing 111. That is, the inner cavity is connected to the sealed cavity but isolated from the outside of the housing to prevent rainwater from entering the inner cavity. The button circuit board 162 is disposed in the inner cavity and is electrically connected to the control module 12. The button switch 163 is press-connected to the button housing 161. When pressed, the button switch 163 moves within the first through hole 133 via the elastic sheet 167. During the movement of the button switch 163, the tactile switch contacts the button circuit board 162. After the tactile switch contacts the button circuit board 162, the control module 12 controls the actuator to perform the actions in the above-described embodiment.

[0098] A circle of supporting ribs is located within the cavity of the key housing 161, on the side of the key housing 161 near the upper housing 111. Multiple fixing posts are positioned around the supporting ribs. The key circuit board 162 is secured to the fixing posts. A ring-shaped support member is placed on the key circuit board 162, and the fixing posts position the support member inward. An elastic sheet 167 is supported on the support member and pressed against the supporting ribs. In other words, the elastic sheet 167 is clamped and compressed between the support member and the supporting ribs, thereby blocking the first through hole 133 from the cavity.

[0099] The elastic sheet 167 includes a main body and a pressing portion. The pressing portion is connected to the key switch 163. A touch switch is provided at a position corresponding to the pressing portion on the key circuit board 162. Taking the start of the lawn mower robot 10 as an example, when the key switch 163 is pressed, the main body is deformed, causing the pressing portion to move downward and trigger the touch switch, thereby turning on the lawn mower robot 10.

[0100] In some embodiments, referring to Figures 18 and 19, the button module 16 also includes an emergency stop button 164 that can be pressed and connected to the button shell 161. A third detection part 165 is provided at the bottom of the emergency stop button 164, and a third trigger part 166 electrically connected to the control module 12 is provided on the button shell 161. After the emergency stop button 164 is pressed, the third detection part 165 is driven to move. During the movement, the third detection part 165 approaches and triggers the third trigger part 166, so that the control module 12 controls the actuator to perform emergency braking.

[0101] Specifically, the button shell 161 is concave on the side away from the upper shell 111 and forms a groove body. The emergency stop button 164 is arranged in the groove body. The bottom of the emergency stop button 164 is provided with a balance rod and a return spring. The emergency stop button 164 is limited by the groove wall of the groove body and can be installed in the groove body in a liftable manner. The balance rod and the return spring are located in the groove body and between the bottom wall of the groove body and the emergency stop button 164.

[0102] The balance bar includes a pair of cross-mounted balance bars, one end of which is pivotally attached to the slot wall or the emergency stop button 164, while the other end is slidably attached to the emergency stop button 164 or the slot wall. This ensures that the emergency stop button 164 can be smoothly raised or lowered regardless of where it is pressed. The middle of the two balance bars is pivotally connected and has a clearance hole for a return spring. The top of the return spring is connected to the emergency stop button 164, and the bottom of the return spring is connected to the bottom of the slot. The return spring is used to support the raising and lowering of the emergency stop button 164. A third detection portion 165 is mounted on the emergency stop button 164, and a third trigger portion 166 is mounted on the inner side of the button housing 161 at a position corresponding to the third detection portion 165.

[0103] When the emergency stop button 164 is pressed downward, the third detection unit 165 triggers the third trigger unit 166, and the third trigger unit 166 is electrically connected to the control module 12. The control module 12 controls the walking motor 261 and / or the cutting motor 221 to brake, that is, controls them to stop working.

[0104] In some embodiments, referring to Figures 6-8 , a first positioning module 17 is provided on the upper housing 111. The first positioning module 17 includes a positioning antenna 171 and a positioning chip 172. The positioning antenna 171 is used to receive positioning signals and may be an RTK antenna. The positioning chip 172 is used to process positioning signals and may be a GPS chip. The positioning antenna 171 is fixed to the upper housing 111 and located within the sealed cavity. The positioning chip 172 is provided on the key circuit board 162 and is electrically connected to the positioning antenna 171 and the control module 12. By providing the positioning chip 172 on the key circuit board 162, the positioning chip 172 can be removed and installed by simply disassembling the key housing 161, without having to disassemble the upper housing 111 or other components, thereby facilitating subsequent maintenance of the positioning chip 172. Of course, in other embodiments, the positioning chip 172 may also be provided on the substrate.

[0105] In some embodiments, referring to Figures 2 to 12, a handle 18 is further provided on the housing, and the staff can conveniently carry the robot through the handle 18. The handle 18 is staggered with the air outlet 136 to reduce the hot air from the channel structure 131 from blowing onto the handle 18, avoiding burns when holding the handle 18, and slowing down the aging of the handle 18.

[0106] Furthermore, the handle 18 includes a handle a and a handle b, which are fixed together with screws to form a complete handle 18 . The handle a is integrally formed with the bottom shell 112 to ensure the strength of the handle 18 .

[0107] In some embodiments, a tail shell 1122 covering the air outlet 136 is provided on the bottom shell 112, and an air guide window 1123 is provided on the tail shell 1122 corresponding to the air outlet 136. The air guide window 1123 can be set in the form of a shutter, and the air outlet direction of the air guide window 1123 is staggered from the handle 18. The air guide window 1123 can guide the wind from the air outlet 136 to the ground, further reducing the hot air blowing onto the handle 18.

[0108] In some embodiments, referring to Figures 20-25 , the first housing 21 includes a cover 212 located on top of the first housing 21, and the second housing 11 is detachably connected to the cover 212. The first housing 21 also includes a chassis 211 connected below the cover 212, the actuator is disposed on the chassis 211, and the cover 212 covers at least a portion of the actuator.

[0109] The cover body 212 is buckled onto the chassis 211 and forms an installation cavity with the chassis 211. The second housing 11 is connected to the cover body 212 through the bottom shell 112. The installation cavity is used to place and cover part of the actuator. The cover body 212 and the chassis 211 are detachably connected and can be connected by screwing. Similarly, the bottom shell 112 and the cover body 212 of the second housing 11 can also be detachably connected by screwing.

[0110] Furthermore, to facilitate description of the orientation of the chassis 211, the chassis 211 in the following embodiment has two opposite sides, wherein the side facing the ground is the lower side and the side facing the sky is the upper side. Along the direction of travel of the lawn mowing robot 10, the chassis 211 has a relative rear end and front end.

[0111] In some embodiments, referring to FIG. 26 and FIG. 27 , the actuator includes a cutting mechanism 22 . A mounting groove 225 with an outward-facing notch is provided on the chassis 211 , and the cutting mechanism 22 is installed in the mounting groove 225 .

[0112] The cutting mechanism includes a connecting seat 226, a first mounting seat 227, a cutting motor 221, and a cutting structure. The connecting seat 226 is at least partially located within the mounting slot 225 and is connected to the chassis 211. The first mounting seat 227 is connected to the connecting seat 226 and defines a first mounting cavity and a second through-hole connecting the first mounting cavity with the outside world. The cutting motor 221 is disposed within the first mounting cavity, and the output shaft of the cutting motor 221 extends out of the first mounting cavity through the second through-hole. The cutting structure is located outside the first mounting cavity and connected to the output shaft of the cutting motor 221.

[0113] Specifically, at least part of the connecting seat 226 is located in the mounting groove 225 and is detachably fixedly connected to the chassis 211. The first mounting seat 227 is connected to the connecting seat 226. The first mounting seat 227 is provided with a first mounting cavity and a second through hole connecting the first mounting cavity with the outside world. The cutting motor 221 is arranged in the first mounting cavity, thereby protecting the cutting motor 221. The output shaft of the cutting motor 221 extends out of the first mounting cavity through the second through hole. The cutting structure is located outside the first mounting cavity and is connected to the output shaft of the cutting motor 221.

[0114] The first mounting cavity protects the cutting motor 221. As the mowing robot moves and mows, it will inevitably encounter obstacles such as rocks and wood piles that are lower than the chassis 211. When the mowing robot passes over these obstacles, the chassis 211 steps over them. The cutting motor 221 is located on the side of the chassis 211 facing the ground, making it susceptible to scratches and damage from these obstacles. When the cutting motor 221 is housed in the first mounting cavity, these obstacles can be prevented from scratching the cutting motor 221 to a certain extent, reducing the risk of damage to the cutting motor 221.

[0115] Optionally, the connecting seat 226 is detachably fixed in the mounting groove 225 by bolts, and screw holes are provided in both the connecting seat 226 and the mounting groove 225 and are fastened by bolts.

[0116] Furthermore, the first mounting seat 227 can be fixedly connected to the connecting seat 226. For example, the first mounting seat 227 is molded on the connecting seat 226 by injection molding. Of course, the first mounting seat 227 can also be detachably connected to the connecting seat 226 by bolts, which is not limited here.

[0117] In some embodiments, in order to reduce the grass clippings, debris, etc. generated during the mowing process from entering the first mounting cavity of the first mounting seat 227, a cavity cover 212 is provided on the first mounting cavity. The cavity cover 212 covers the cavity opening of the first mounting cavity, and the cutting motor 221 can operate in a clean and tidy space, thereby improving the service life of the cutting motor 221 to a certain extent.

[0118] In order to reduce the amount of debris that enters the first mounting cavity from the surrounding side walls of the mounting base and the second through hole, the area of ​​the first mounting base 227 other than the cavity opening and the second through hole is solid (i.e., it is not a hollow setting), and the diameter of the output shaft of the cutting motor 221 is adapted to the aperture size of the second through hole or slightly smaller than the aperture size of the second through hole. After the cutting mechanism 22 is installed, the output shaft of the cutting motor 221 can rotate in the second through hole while blocking the second through hole. Debris cannot enter the first mounting cavity from the blocked second through hole, nor can it enter the first mounting cavity from the surrounding side walls of the first mounting base 227, so that the cutting motor 221 can operate in a clean and tidy first mounting cavity, reducing the risk of aging and damage of the cutting motor 221 and increasing the service life of the cutting motor 221.

[0119] The cutting mechanism includes a cutter disc 222, which is fixedly connected to the output shaft of a cutting motor 221. Multiple blades 223 are rotatably mounted on the cutter disc 222. When the cutting motor 221 is activated, the output shaft of the cutting motor 221 rotates, which in turn drives the cutter disc 222. The blades 223 on the rotating cutter disc 222 cut the weeds, thereby achieving a mowing operation.

[0120] Optionally, the blade 223 is rotatably mounted on the cutter disc 222. When the cutter disc 222 rotates, the blade 223 rotates to a horizontal or nearly horizontal state under the action of centrifugal force to achieve mowing.

[0121] The cutter disc 222 is fixed to the output shaft of the cutting motor 221 through a flange connection.

[0122] When the cutting mechanism 22 is mowing, the rotating cutter disc 222 and blade 223 will cause the cut grass to fly around, making it easy for the grass to enter the first mounting seat 227. In order to reduce this, especially when no cavity cover is provided, the cutting mechanism 22 also includes a protective disc, which is fixed to the first mounting seat 227 and located outside the first mounting cavity. The protective disc cover is provided above the cutting mechanism 22.

[0123] In this way, when mowing, weeds flying around will be blocked by the protective disc, which not only prevents the weeds from entering the first mounting cavity of the first mounting seat 227, but also reduces the splashing range of the weeds, thereby improving the user experience.

[0124] The connection line of the cutting motor 221 extends out through the wire hole on the cavity cover 212, passes through the cutting motor 221 wire hole on the chassis 211, the high-voltage wire hole 2121 on the cover body, and is finally connected to the control module 12.

[0125] In some embodiments, referring to Figures 28-29, the cutting mechanism 22 also includes a height adjusting device 23, the first mounting seat is movably connected to the connecting seat, the height adjusting device 23 is detachably installed in the mounting groove, the first mounting seat is arranged on the height adjusting device 23, and the height adjusting device 23 is used to drive the first mounting seat to move up and down.

[0126] The height adjustment device 23 includes a second mounting base 233, a height adjustment motor 231, a transmission assembly 232, and a swing arm 234. The second mounting base 233 is at least partially located within the mounting slot and is removably fixedly connected to the chassis. The height adjustment motor 231 is mounted on the second mounting base 233. The transmission assembly 232 is mounted on the second mounting base 233 and connected to the height adjustment motor 231. The height adjustment motor 231 is used to drive the transmission assembly 232. The swing arm 234 is rotatably mounted on the second mounting base 233 and connected to the transmission assembly 232. The transmission assembly 232 is used to drive the swing arm 234 in rotation. The first mounting base is mounted on the swing arm 234.

[0127] After the height adjustment motor 231 drives the transmission assembly 232 to move, the transmission assembly 232 drives the swing arm 234 to rotate. One end of the swing arm 234 is rotatably connected to the second mounting seat 233. Therefore, the other end of the swing arm 234 will swing relative to the second mounting seat 233 during rotation, thereby driving the first mounting seat to perform a lifting movement, that is, driving the first mounting seat to reciprocate in the direction away from the mounting slot and close to the mounting slot. The cutting mechanism also performs a lifting movement following the first mounting seat to adjust the cutting height of the cutting mechanism.

[0128] Optionally, the second mounting seat 233 is detachably connected to the chassis via bolts. The second mounting seat 233 may also be connected to the chassis via a snap-fit ​​structure, which is not specifically limited here.

[0129] In some embodiments, the transmission assembly 232 includes a screw 235 and a gear 236. The screw 235 is connected to the height adjustment motor 231, and the gear 236 is connected to the swing arm 234. The screw 235 and the gear 236 mesh and transmit power. The height adjustment motor 231 drives the screw 235 to rotate, and the screw 235 meshes with the gear 236 to drive the gear 236 to rotate. The rotating gear 236 drives the swing arm 234 to swing, thereby achieving the lifting and lowering movement of the second mounting base 233.

[0130] Of course, the transmission method of the transmission component 232 includes but is not limited to the above-mentioned gear 236 transmission method, and can also adopt a hinge transmission or a transmission belt transmission method, so as to be able to transmit the rotation of the height adjustment motor 231 to the swing arm 234, so that the swing arm 234 swings. No specific limitation is made here.

[0131] The cutting module also includes a height detection mechanism 24, which includes a first detection module. The first detection module includes a first detection part 241 and a first trigger part 242. One of the first detection part 241 and the first trigger part 242 is movably connected to the gear 236, and the other of the first detection part 241 and the first trigger part 242 is fixed on the second mounting base 233.

[0132] Furthermore, a first triggering portion 242 is fixed to the gear 236, and two first detecting portions 241 are mounted on the sidewalls of the second mounting base 233 from top to bottom. When the first triggering portion 242 approaches the first detecting portion 241, the first detecting portion 241 is triggered and emits a first detection signal. The first detecting portion 241 is electrically connected to the control device of the lawn mower robot to transmit the first detection signal to the control device, which then restricts the functions of various functional modules of the lawn mower robot based on the first detection signal. For example, the first detecting portion 241 is a Hall effect sensor, and the first triggering portion 242 is a magnet. When the magnet approaches the Hall effect sensor, it changes the magnetic field strength around the Hall effect sensor, triggering the Hall effect sensor.

[0133] It can be understood that the first mounting seat cannot be too high or too low during the lifting movement. If the first mounting seat rises too high, it will stop at the chassis and cannot continue to rise, which may easily damage the lifting motor. In addition, if the first mounting seat drops too low, the cutter disc will stick to the ground and damage the cutter disc. Therefore, the swing arm 234 has certain lifting range requirements during the swinging process, which are defined here as the first height and the second height, respectively, and the second height is higher than the first height.

[0134] In addition, the gear 236 drives the swing arm 234 to rise and fall by rotating. Therefore, the gear 236 will also rotate to the first position and the second position during the rotation process. When the gear 236 rotates to the first position, the swing arm 234 moves to the first height. When the gear 236 rotates to the second position, the swing arm 234 moves to the second height.

[0135] Therefore, the two first detection parts 241 are respectively located at the highest and lowest points of the allowable swing range of the swing arm 234, that is, they are set at the positions corresponding to the first position and the second position of the second mounting seat 233. When the swing arm 234 is lifting and lowering, when the swing arm 234 rises to the second height position and falls to the first height position, the first trigger part 242 on the gear 236 will trigger the first detection part 241, and the first detection part 241 will send a first detection signal to the control device. After receiving the first detection signal, the control device can control the braking of the height adjustment motor 231 to prevent the second mounting seat 233 and the cutting mechanism from rising or falling too high or too low, thereby improving safety.

[0136] Furthermore, the height detection mechanism 24 also includes a second detection module for calculating the height of the cutting module. The second detection module includes a second detection unit and a second trigger unit. One of the second detection unit and the second trigger unit is disposed on the screw 235, and the other of the second detection unit and the second trigger unit is disposed on the side wall of the second mounting base 233. Exemplarily, the second detection unit is a Hall sensor, and the second trigger unit is a magnet. The operating principle is the same as in the above embodiment. When the second detection unit and the trigger unit are close to each other, the second detection unit is triggered and sends a second detection signal to the control device.

[0137] It is understood that the height of the first mounting seat can be calculated by the number of revolutions of the screw 235 combined with the transmission ratio. Each time the screw 235 rotates one revolution, the second triggering portion can trigger the second detection portion once. Based on the number of times the second detection portion is triggered, that is, the number of second detection signals received by the control device, the number of revolutions of the screw 235 can be calculated, and the height of the first mounting seat can be calculated. For example, each time the screw 235 rotates one revolution, the height of the swing arm 234 rising or falling is a. Then, based on the number of times the control device receives the second detection signal, the number of revolutions b of the screw 235 can be determined, and the height h of the swing arm 234 can be determined, h = a*b, thereby achieving the measurement of the height of the first mounting seat.

[0138] In some embodiments, the actuator includes a walking mechanism, which includes a driven wheel module 25 and a driving wheel module 26. Referring to Figures 31-35 , the driving wheel module 26 includes a walking motor 261 and a first wheel body 262 axially connected to the walking motor 261. The walking motor 261 is fixed to the chassis 211 and electrically connected to the control module 12. The control module 12 is configured to drive the walking motor 261 to rotate the first wheel body 262 and drive the lawn mower robot 10 to move. The direction from the driven wheel module 25 to the driving wheel module 26 is the travel direction of the lawn mower robot 10.

[0139] Specifically, a first mounting compartment 263 is provided on the chassis 211, and the driving wheel module 26 includes a walking motor 261 and a first wheel body 262 driven to rotate by the walking motor 261. The chassis 211 is also provided with a third through hole 264 connecting the first mounting compartment 263 and the outside world. The walking motor 261 extends into the first mounting compartment 263 through the third through hole 264. A first connecting ear 265 is provided on the outer periphery of the walking motor 261. A first connecting portion 266 surrounding the first through hole is provided on the outer side of the chassis 211. The first connecting portion 266 is used to abut against the first connecting ear 265 after the walking motor 261 extends into the first mounting compartment 263 through the first through hole. The first connecting portion 266 is screwed and fixed to the first connecting ear 265 by a first fastener, and the first wheel body 262 is located outside the first mounting compartment 263.

[0140] When installing the driving wheel module 26, the walking motor 261 is extended from the outside of the first mounting compartment 263 to the inside of the first mounting compartment 263 through the third through hole 264. After the walking motor 261 is extended into the first mounting compartment 263, the walking motor 261 is connected and fixed to the outside of the chassis, thereby accommodating at least a portion of the walking motor 261 in the first mounting compartment 263. After the driving wheel module 26 is installed on the chassis 211, the first wheel body 262 is located outside the first mounting compartment 263 and is suitable for rolling on the ground.

[0141] When disassembling the driving wheel module 26 , the connection between the travel motor 261 and the chassis is released, and the travel motor 261 is then pulled out of the first installation compartment 263 to complete the disassembly.

[0142] The travel motor 261 provided in the embodiment of the present application is operated on the first mounting compartment 263 on the chassis during installation or disassembly. The first mounting compartment 263 is directly connected to the outside world through the third through hole 264 and does not involve other structures of the casing. Therefore, there is no need to disassemble other structures of the casing during the disassembly process. The travel motor 261 can be directly disassembled and assembled into the first mounting compartment 263 of the chassis 211 from the outside, realizing modular external disassembly, simplifying the disassembly and assembly steps of the drive wheel module 26, making the disassembly and assembly of the drive wheel module 26 easier, and improving the disassembly and assembly efficiency of the drive wheel module 26.

[0143] In some embodiments, after the travel motor 261 extends into the first mounting compartment 263, the travel motor 261 is detachably connected and fixed to the outside of the chassis 211 via a first connecting ear 265. The first connecting ear 265 is provided on the outer periphery of the travel motor 261, and a first connecting portion 266 is provided on the outer side of the chassis 211, surrounding the third through hole 264. The first connecting portion 266 is configured to abut against the first connecting ear 265 after the travel motor 261 extends into the first mounting compartment 263 through the third through hole 264. The first connecting portion 266 and the first connecting ear 265 are screwed together and fixed by a first fastener.

[0144] During installation, the walking motor 261 is extended into the first mounting compartment 263 through the third through hole 264. The first connecting ear 265 moves with the walking motor 261 and cannot pass through the third through hole 264. The first connecting ear 265 stops on the first connecting portion 266 around the third through hole 264. At this time, the walking motor 261 no longer continues to extend into the first mounting compartment 263. Then the first connecting ear 265 is screwed to the first connecting portion 266 through the first fastener, and the walking motor 261 can be positioned and fixed on the chassis 211.

[0145] When disassembling the travel motor 261 , the first fastener is removed, the first connecting ear 265 and the first connecting portion 266 are disconnected, and the travel motor 261 is then pulled out of the first mounting compartment 263 to complete the disassembly of the drive wheel module 26 .

[0146] When installing the drive wheel module 26, the first connecting lug 265 abuts against the outside of the chassis 211, allowing the first connecting lug 265 to not only secure the module but also position it. During installation, the operator does not need to consider the length of the travel motor 261 that extends into the first mounting compartment 263. When the first connecting lug 265 abuts against the first connecting portion 266, the travel motor 261 has been inserted into the preset position, reducing installation complexity while achieving precise positioning.

[0147] The first wheel body 262 includes a decorative wheel cover and a back cover on both sides. The first wheel body 262 is sandwiched between the decorative wheel cover and the back cover. The decorative wheel cover and the back cover are mainly used to cover the interior of the first wheel body 262 to play a decorative role, and at the same time prevent collision debris from entering the first wheel body 262. The first wheel body 262 includes a hub and a carcass mounted on the outer periphery of the hub. A plurality of gear teeth are provided on the carcass to enhance the grip of the first wheel body 262.

[0148] The driven wheel module 25 is installed on the chassis 211. The chassis 211 and the cover body 212 are combined to form a second mounting chamber 254. The driven wheel module 25 includes a mounting arm 255 and a second wheel body 251. The two ends of the mounting arm 255 in the length direction are respectively a first end 257 and a second end 258. The cover body is provided with a fourth through hole 256 connecting the second mounting chamber 254 and the outside world. The first end 257 extends into the second mounting chamber 254 through the fourth through hole 256, and the first end 257 is detachably connected to the chassis. The second end 258 is located outside the second mounting chamber 254 and connected to the second wheel body 251.

[0149] When the driven wheel module 25 is installed on the chassis 211, the first end 257 of the mounting arm 255 is extended into the second mounting compartment 254 and connected to the chassis 211. Whether in the process of installation or disassembly, the driven wheel module 25 is operated corresponding to the second mounting compartment 254 on the chassis 211. The second mounting compartment 254 is directly connected to the outside world through the fourth through hole 256 and does not involve other structures of the chassis 211. Therefore, there is no need to disassemble the chassis 211 and other structures of the first housing 21 during the disassembly process. The mounting arm 255 of the driven wheel module 25 can be directly disassembled and assembled into the second mounting compartment 254 of the chassis 211 from the outside, realizing modular external disassembly, simplifying the disassembly and assembly steps of the driven wheel module 25, making the disassembly and assembly of the driven wheel module 25 easier, and improving the disassembly and assembly efficiency of the driven wheel module 25.

[0150] In addition, the second end 258 of the mounting arm 255 can extend to the side of the chassis 211. The mounting arm 255 itself has a certain length. The mounting arm 255 is used to make the driven wheel module 25 partially extend to the side of the chassis 211. The distance between the second wheel bodies 251 is no longer limited by the width of the chassis 211. The distance between the second wheel bodies 251 is increased, and the stability of the lawn mower robot when walking is improved, making it less likely to roll over when climbing or descending a slope.

[0151] In some embodiments, the mounting arm 255 is detachably connected to the chassis 211 by screwing. Specifically, a threaded hole 313 is provided on the first end 257, and a first mounting hole 114 corresponding to the threaded hole 313 is provided on the chassis 211. The chassis 211 and the mounting arm 255 are screwed and fixed by a second fastener passing through the first mounting hole 114 and the threaded hole 313.

[0152] When installing the driven wheel module 25, the first end 257 of the mounting arm 255 is extended into the second mounting compartment 254 through the fourth through hole 256, and the second fastener is inserted into the first mounting hole 114 and the threaded hole 313 on the first end 257 outside the chassis 211 to connect and fix the first end 257 of the mounting arm 255 to the chassis 211; when disassembling the driven wheel module 25, the second fastener is removed from the outside of the chassis 211, and the mounting arm 255 can be pulled out from the second mounting compartment 254 to complete the disassembly of the driven wheel module 25.

[0153] Furthermore, the first end 257 of the mounting arm 255 for connection and fixing is hidden in the second mounting compartment 254 and is not exposed to the outside of the chassis 211 , making the lawn mowing robot more neat and beautiful.

[0154] In some embodiments, the second wheel body 251 includes an axle seat, an axle and a universal wheel. The axle seat is detachably connected to the mounting arm 255. An axle hole is provided through the axle seat. One end of the axle can be rotatably installed in the axle hole, and the universal wheel can be rotatably installed at the other end of the axle.

[0155] When assembling the driven wheel module 25 , the shaft seat is connected to the second end 258 of the mounting arm 255 , and then the universal wheel is rotatably connected to the shaft seat via the wheel axle.

[0156] The axle seat is detachably connected to the second end 258 of the mounting arm 255. When only the second wheel body 251 of the driven wheel module 25 needs maintenance, the second wheel body 251 can be removed from the mounting arm 255 for maintenance or replacement. There is no need to replace the second wheel body 251 as a whole, which saves time, effort and cost.

[0157] In some embodiments, referring to FIG. 32 , the driven wheel module 25 further includes a conductive block 252 and an elastic electrode sheet 253 provided on the second wheel body 251. When the second wheel body 251 is lifted or suspended in the air, the conductive block 252 contacts and conducts with the electrode sheet, so that the control module 12 controls the walking mechanism and the cutting mechanism 22 to brake.

[0158] Specifically, an installation cavity is provided at the lower part of the connecting arm, and part of the wheel axle seat extends into the installation cavity. An axial hole is provided through the wheel axle seat, and one end of the wheel axle passes through the axial hole and can be raised and lowered and rotated in the axial hole. The wheel axle seat is provided with convex strips located on both sides of the axial hole, and the convex strips are fixed with elastic electrode sheets 253. The elastic electrode sheets 253 can be electrically connected to the connecting terminals in the installation cavity. The connecting terminals are used to connect to the control module 12, and a conductive block 252 is fixed on the end of the wheel axle.

[0159] When the axle moves upward, the conductive block 252 separates from the electrode sheet. When the axle moves downward, the conductive block 252 contacts the electrode sheet, and the electrode sheets are conductive. The control module 12 receives an electrical signal and confirms that the robot is lifted or the wheels are suspended. At this time, the walking motor 261 that drives the rear wheels stops working, and the cutting motor 221 stops working.

[0160] In some embodiments, a collision module 27 is provided on the chassis 211. Referring to Figures 36-39, the collision module 27 includes a support portion 271 and a movable cover 273. The support portion 271 is fixedly connected to the chassis and is provided with a detection member 272 electrically connected to the control module. The movable cover 273 has a placement cavity 274 within it. The support portion 271 is disposed within the placement cavity 274, with a movable gap between the support portion 271 and the movable cover 273. An elastic member 275 elastically supports the inner wall of the placement cavity 274 and the support portion 271. The elastic member 275 is used to enable the movable cover 273 to displace relative to the support portion 271 after a collision and to reset the movable cover 273 after the collision disappears. A trigger member 276 is provided on the inner wall of the placement cavity 274.

[0161] The triggering member 276 is used to trigger the detecting member 272 when it approaches the detecting member 272. The detecting member 272 is used to send a collision signal to the control module 12 after being triggered. The control module 12 is used to receive the collision signal and control the walking mechanism to brake according to the collision signal.

[0162] The detection member 272 and the trigger member 276 are a set of detection components that cooperate with each other. During use, when the movable cover body 273 is displaced relative to the support part 271, it means that a relative displacement occurs between the detection member 272 and the trigger member 276. At this time, the trigger member 276 triggers the detection member 272. After the detection member 272 is triggered, it generates an electrical signal and sends it to the control module 12 of the lawn mower robot. The lawn mower robot can know that the movable cover body 273 is blocked or hit by an object based on the electrical signal sent by the detection member 272, so that it can change its movement strategy to reasonably avoid it.

[0163] In some embodiments, the movable cover 273 is supported by the elastic member 275 to float around the outer periphery of the support portion 271 .

[0164] It can be understood that the outer periphery of the support portion 271 refers to the area around the outside of the support portion 271. In other words, the outside of the support portion 271 is surrounded by the movable cover 273. When an external object collides with the support portion 271, it will first collide with the movable cover 273, causing the movable cover 273 to move and trigger the detection member 272. This reduces the occurrence of situations such as collisions that do not result in collision detection, thereby reducing the missed detection rate of collision detection. In addition, the movable cover 273 is arranged on the outer periphery of the support portion 271, and the support portion 271, detection member 272, and trigger member 276 are all located inside the movable cover 273. The movable cover 273 can protect these components. This arrangement can reduce the risk of the support portion 271, detection member 272, and trigger member 276 being wetted and damaged by rain.

[0165] In some embodiments, the cover body 212 is provided with a high-voltage wire hole 2121 and a low-voltage wire hole 2122 that are separately arranged and connected to the sealed cavity, that is, the bottom shell 112 of the second shell 11 is correspondingly provided with a high-voltage wire hole 2121 and a low-voltage wire hole 2122. The high-voltage wire on the first shell 21 extends into the sealed cavity of the second shell 11 through the high-voltage wire hole 2121 and is connected to the control module 12. The low-voltage wire on the first shell 21 extends into the sealed cavity of the second shell 11 through the low-voltage wire hole 2122 and is connected to the control module 12. The high-voltage wire hole 2121 and the low-voltage wire hole 2122 are arranged at intervals and are further arranged diagonally, so that the high-voltage wire and the low-voltage wire are separated a little further.

[0166] In some embodiments, a battery compartment 28 is provided on the chassis 211. A power supply for the actuator and the control module 12 is provided in the charging compartment 28. The power supply is connected to a charging head 281 for charging. Referring to FIG40 , the charging head 281 is connected to the first housing 21 and has a charging electrode 282 exposed outside the first housing 21.

[0167] The chassis 211 is provided with a battery compartment 28, which houses a power source for the cutting mechanism, travel mechanism, and collision module 27. This power source is connected to a charging head 281 for charging. Referring to Figure 40 , the charging head 281 is provided with a charging electrode 282 exposed to the outside of the first housing 21. The charging electrode 282 is disposed on the charging head 281.

[0168] Specifically, the charging head 281 includes a charging base and charging electrodes 282 mounted on the charging base. The charging electrodes 282 are respectively positive and negative. The charging electrodes 282 are metal parts, and the charging base is made of flame-retardant and fire-proof materials, which can be plastic parts. The charging base is provided with a barrier strip. The barrier strip is required to be higher than the positive / negative electrodes. Its purpose is to prevent the positive and negative electrodes from being accidentally connected. The cover 212 is provided with a charging port connected to the sealed cavity. The charging head 281 is mounted on the charging port of the cover 212. The charging base is also provided with a buckle to achieve the connection between the charging head 281 and the cover 212. In addition, the charging head 281 can also be screwed to the cover 212.

[0169] Furthermore, a charging port is provided at the front end of the cover 212. This port is used to mount a charging head 281, which charges the power supply via charging electrodes 282. The charging electrodes 282 on the charging head 281 are exposed on the outside of the cover 212 for easy charging. A wiring trough is provided on the upper side of the chassis 211 to position the wires connected to the charging electrodes 282. One end of the wire is connected to the charging electrode 282, and the other end passes through the high-voltage wire hole 2121 and then connects to the control module 12. The wires connecting to the power supply also pass through the high-voltage wire hole 2121 and connect to the control module 12.

[0170] In some embodiments, referring to FIG. 25 , the battery compartment 28 is provided with a compartment cover, on which a ventilation valve is provided, and a ventilation valve is also provided on the top wall of the travel motor installation cavity. The compartment cover can not only play a certain waterproof role, but also maintain the air pressure balance in the battery compartment 28 .

[0171] An embodiment of the present application also provides a lawn mowing system. Referring to Figure 41, the lawn mowing system includes a charging pile 31, a base station 41 and the lawn mowing robot 10 in the above embodiment. The charging pile 31 is provided with a charging mechanism for charging the lawn mowing robot 10. The base station is provided with a second positioning module 411, and the second positioning module 411 is communicatively connected to the first positioning module 17.

[0172] Among them, the charging pile and the base station are independent components, which can be set up separately and used individually, or used in combination. The charging pile is fixed on the grass through ground nails, and the base station is inserted into the soil of the grass through nails.

[0173] Furthermore, the charging pile includes a base and a charging body uprightly installed on the base, the base is used to support the lawn mower robot 10, and a U-shaped guide boss is provided on one end of the base close to the charging body. When the lawn mower robot 10 enters the base, the guide boss guides the robot to dock with the charging body, and an anti-backup protrusion is provided on the end of the base away from the charging body. When the lawn mower robot 10 is charging, since the walking motor 261 is in a stopped state, especially when the grass is uneven, the anti-backup protrusion can play a blocking role to prevent the lawn mower robot 10 from moving away from the charging pile.

[0174] The charging unit is mounted upright on the base and consists of a rear shell, front shell, middle shell, and fixed shell assembled together. A charging chamber is provided within the charging unit, housing the charging circuit board. The front shell is integrally formed with a mounting cover containing a mounting slot, into which the charging unit is mounted. The charging unit is connected to the charging circuit board via wires. The electrodes of the charging unit extend out of the mounting slot through an opening at one end and are exposed to the outside world, enabling electrical contact with the charging head 281 on the robot body.

[0175] Furthermore, the charging body includes a fixed shell and an electrode body, one end of the electrode body is fixed on the fixed shell, and the fixed shell is installed in the mounting groove in the mounting cover. The fixed shell also has a cavity, and the wires connecting the electrode body and the charging circuit board are accommodated in the cavity. In addition, a charging Hall sensor connected to the charging circuit board is also provided on the fixed shell, and a charging magnet is installed on the electrode body. When the electrode body is squeezed backward, the charging magnet triggers the charging Hall sensor, and the charging circuit board controls the electrode to start charging the robot.

[0176] The electrode body includes a spring electrode and a shell. The spring electrode includes a fixed end, a free end and an elastic arm connecting the two. The fixed end of the spring electrode is fixed on the fixed shell, and the free end is provided with a shell. The elastic arm is bent to increase elasticity.

[0177] Existing electrode bodies all use springs to provide elastic force to increase the tolerance of the electrode and reduce the risk of the electrode being damaged during docking. This solution uses spring electrodes to provide elastic force, omitting the spring, resulting in a simple structure and low cost.

[0178] Furthermore, the free end portion of the shrapnel electrode is wrapped in the shell. Specifically, a slot is provided in the shell, and the free end is installed in the slot. The contact area on the free end is exposed outside the shell to contact the electrode on the lawn mowing robot 10. During the preparation process, the shrapnel electrode and the shell are injection molded together. The shrapnel electrode is first installed in the mold, and then plastic is injected into the mold. The mold is cooled to obtain the shrapnel electrode and shell fixed together.

[0179] There are two electrode bodies, namely the positive pole and the negative pole, which are staggered and set opposite to each other. The advantage of this is that the forces in the left and right directions are balanced.

[0180] In some embodiments, an identification structure is provided on the charging pile body, and the identification structure is installed on the second installation port of the identification structure. The identification structure is used to assist the robot in charging pile alignment.

[0181] The identification structure includes an outer cover and an identification plate fixed on the inner side of the outer cover. When the identification structure is installed on the charging body, the identification plate is located between the outer cover and the charging body. What the human eye directly sees from the outside is the outer cover, thereby hiding the identification plate on the inside.

[0182] As a preferred embodiment, the identification plate is a white reflective plate for reflecting infrared rays. The material of the identification plate is ASA (impact-modified resin). The identification plate is in the shape of a U-shaped letter and is fixed to the second mounting port of the identification plate on the inner side of the outer cover. Because the glossy surface will result in inconsistent light intensity received by the TOF camera, the recognition of features will be inaccurate. The reflective surface of the identification plate in this embodiment is a frosted surface, and diffuse reflection is used to make the reflected light more uniform, thereby improving the accuracy of TOF camera recognition.

[0183] The outer cover has a light filtering function. Optionally, the outer cover is a black acrylic plate prepared by adding functional color powder. The outer cover only allows infrared light to pass through. Usually, the outer cover has weak reflective ability. For this reason, the outer surface of the outer cover in this embodiment is preferably set to a frosted surface.

[0184] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A lawn mowing robot, characterized in that, include: A housing, comprising a first housing and a second housing connected to each other, wherein the second housing and the first housing are arranged vertically; An actuator, disposed on the first housing, for performing an action, the action including driving the housing to move and performing cutting; The control module is arranged on the second housing and is electrically connected to the actuator, and is used to control the actuator to perform the action.

2. The lawn mowing robot according to claim 1, characterized in that, The second housing is provided with a heat dissipation structure, and the heat dissipation structure is used to dissipate heat from the control module.

3. The lawn mowing robot according to claim 2, characterized in that, The second housing comprises an upper housing and a bottom housing, wherein the upper housing is fixed on the bottom housing and encloses and forms a sealed cavity; The heat dissipation structure includes a channel structure arranged on the bottom shell, the channel structure is independent of the sealed cavity, the control module is arranged in the sealed cavity and outside the channel structure, and the control module rests on the side wall of the channel structure.

4. The lawn mowing robot according to claim 3, wherein The heat dissipation structure further comprises a heat dissipation plate arranged on the bottom shell, the heat dissipation plate constitutes a part of the side wall of the channel structure, and the control module rests on the heat dissipation plate.

5. The lawn mowing robot according to claim 3, characterized in that, A fan is provided in the channel structure, and the fan is used to adjust the gas flow rate in the channel structure.

6. The lawn mowing robot according to claim 3, characterized in that, The two ends of the channel structure are an air inlet and an air outlet respectively. The air inlet and the air outlet are respectively located at the two ends of the bottom shell, and filters are provided on the air inlet and the air outlet.

7. The lawn mowing robot according to claim 4, characterized in that, The control module includes a substrate and a core board, wherein the substrate is fixed on the bottom shell and located above the heat sink, and the core board is arranged on one side of the substrate and located between the substrate and the heat sink, and the core board contacts the heat sink.

8. The lawn mowing robot according to claim 7, characterized in that, A heat conducting block is arranged between the core board and the heat dissipation plate. The heat conducting block is bonded to the core board via a first heat conducting adhesive layer, and the heat conducting block is bonded to the heat dissipation plate via a second heat conducting adhesive layer.

9. The lawn mowing robot according to claim 7, characterized in that, The lawn mowing robot further comprises a communication module disposed in the sealed cavity, wherein the communication module comprises: A communication antenna, supported on the bottom shell by a mounting post; A communication control board is fixed on the substrate and rests on the heat sink. A communication chip is arranged on the communication control board, and the communication chip is electrically connected to the communication antenna.

10. The lawn mowing robot according to claim 3, characterized in that, The second housing further comprises a decorative shell, which covers the upper housing and is fixed on the bottom housing. The decorative shell, the upper housing and the bottom housing together form a heat-insulating cavity surrounding the sealed cavity, and the heat-insulating cavity is independent of the sealed cavity.

11. The lawn mowing robot according to claim 3, characterized in that, The bottom shell is provided with a first mounting opening communicating with the sealing cavity, and the bottom shell is also provided with a camera module, the camera module comprising: A seat body, comprising a front end, a rear end and a receiving cavity, wherein the receiving cavity passes through the front end and the rear end, the seat body extends into the sealed cavity through the first installation opening, the front end abuts against a surface of the bottom shell on a side away from the sealed cavity, and the rear end is located in the sealed cavity and connected to the bottom shell; A lens, mounted on the front end of the seat and covering the accommodating cavity; A camera group and an image pre - processing board that are electrically connected to each other, at least part of the camera group is installed in the accommodating cavity, and the image pre - processing board is used for performing image pre - processing on the images captured by the camera group; A radiator, installed at the rear end of the base body and leaning against the image pre - processing board, at least part of the radiator is located in the sealed cavity.

12. The lawn mowing robot according to claim 11, wherein, The second housing further includes a front shell, on which a window opening corresponding to the lens is provided. The front shell is fixedly connected to the bottom shell and the upper shell, and the lens abuts against the edge of the window opening on the front shell.

13. The lawn mowing robot according to claim 3, characterized in that, The upper shell is provided with a second installation opening communicating with the sealed cavity, and the upper shell is provided with a key module, and the key module includes: A key housing, hermetically connected to the second installation opening, a first through - hole communicating with the sealed cavity is formed on the key housing. The key housing has a first side and a second side opposite to each other, and the first side of the key housing is the side facing the sealed cavity; An elastic sheet, the elastic sheet is fixed on the first side of the key housing and covers the first through - hole; A key switch, the key switch is arranged on the elastic sheet and can movably pass through the first through - hole; A key circuit board, the key circuit board is fixed on the first side of the key housing and is located on the side of the elastic sheet away from the key housing. A tactile switch corresponding to the key switch is arranged on the key circuit board, and the key circuit board is electrically connected to the control module.

14. The lawn mowing robot according to claim 7, characterized in that, The second housing is provided with a first positioning module, and the first positioning module includes: A positioning antenna, fixed on the upper shell and located in the sealed cavity, for receiving positioning signals; A positioning chip, arranged on the substrate, electrically connected to the positioning antenna, for transmitting and processing the positioning signals.

15. The lawn mowing robot according to any one of claims 1 to 14, characterized in that, The first housing includes a cover body located at the top of the first housing, and the second housing is detachably connected to the cover body.

16. The lawn mowing robot according to claim 15, characterized in that, The first housing further includes a chassis connected below the cover body, the actuator is arranged on the chassis, and the cover body covers at least part of the actuator.

17. The lawn mowing robot according to claim 16, characterized in that, The actuator includes a cutting mechanism, a mounting groove with an outward - facing notch is arranged on the chassis, and the cutting mechanism is installed in the mounting groove; the cutting mechanism includes: A connecting seat, at least part of which is located in the mounting groove and is connected to the chassis; A first mounting seat, connected to the connecting seat, a first mounting cavity and a second through - hole communicating the first mounting cavity with the outside are provided on the first mounting seat; A cutting motor, arranged in the first mounting cavity, and the output shaft of the cutting motor extends out of the first mounting cavity through the second through - hole; A cutting structure, located outside the first mounting cavity and connected to the output shaft of the cutting motor.

18. The lawn mowing robot according to claim 17, wherein, The cutting mechanism further includes a height - adjusting device, the first mounting seat is movably connected to the connecting seat, the height - adjusting device is detachably installed in the mounting groove, the first mounting seat is arranged on the height - adjusting device, and the height - adjusting device is used for driving the first mounting seat to move up and down; The height - adjusting device includes: A second mounting seat, at least part of which is located in the mounting groove and is detachably and fixedly connected to the chassis; The height-adjusting motor is arranged on the second mounting seat; The transmission assembly is arranged on the second mounting seat. The transmission assembly is connected to the height-adjusting motor, and the height-adjusting motor is used to drive the transmission assembly to move; The swing arm is rotatably arranged on the second mounting seat. The swing arm is connected to the transmission assembly, and the transmission assembly is used to drive the swing arm to rotate. The first mounting seat is arranged on the swing arm.

19. The lawn mowing robot according to claim 18, wherein, The transmission assembly includes a screw rod and a gear. The screw rod is in meshing transmission with the gear. The screw rod is connected to the height-adjusting motor to drive the gear to rotate, and the gear is connected to the swing arm to drive the swing arm to rotate.

20. The lawn mowing robot according to claim 16, characterized in that, The actuator includes a traveling mechanism, and the traveling mechanism includes a drive wheel module. A first mounting chamber is provided on the chassis. The drive wheel module includes a traveling motor and a first wheel body driven to rotate by the traveling motor. A third through hole communicating the first mounting chamber and the outside is also provided on the chassis. The traveling motor extends into the first mounting chamber through the third through hole. A first connecting ear is provided on the outer periphery of the traveling motor. A first connecting portion surrounding the first through hole is provided on the outside of the chassis. The first connecting portion is used to abut against the first connecting ear after the traveling motor extends into the first mounting chamber through the first through hole. The first connecting portion and the first connecting ear are fixedly connected by screwing with a first fastener. The first wheel body is located outside the first mounting chamber.

21. The lawn mowing robot according to claim 20, wherein, The chassis and the cover body enclose to form a second mounting chamber. The driven wheel module includes a mounting arm and a second wheel body. The two ends of the mounting arm in the length direction are respectively a first end and a second end. A fourth through hole communicating the second mounting chamber and the outside is provided on the cover body. The first end extends into the second mounting chamber through the fourth through hole, and the first end is detachably connected to the chassis. The second end is located outside the second mounting chamber and is connected to the second wheel body.

22. The lawn mowing robot according to claim 16, wherein A collision module is provided on the chassis, and the collision module includes: A support portion fixedly connected to the chassis. A detection piece electrically connected to the control module is provided on the support portion; A movable cover body has a placement cavity inside. The support portion is arranged in the placement cavity and has a movable gap with the movable cover body. The inner wall of the placement cavity and the support portion are elastically supported by an elastic member. The elastic member is used to enable the movable cover body to displace relative to the support portion after being collided and to reset the movable cover body after the collision disappears. A trigger piece is provided on the inner wall of the placement cavity; The trigger piece is used to trigger the detection piece when approaching the detection piece. The detection piece is used to send a collision signal to the control module after being triggered. The control module is used to receive the collision signal and control the traveling mechanism to brake according to the collision signal.

23. The lawn mowing robot according to claim 16, wherein, A battery chamber is provided on the chassis. A power source for supplying power to the actuator and the control module is provided in the charging chamber. The power source is connected to a charging head for charging. The charging head is connected to the first housing and is provided with charging electrodes exposed outside the first housing.

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