Robot, control method for robot, and computer storage medium

Abstract

A robot. The robot comprises a robot body (2000) and a cutting mechanism (1000). The robot body (2000) comprises a chassis and a moving assembly, and the moving assembly is arranged on two sides of the chassis and used for driving the chassis to travel. The cutting mechanism (1000) comprises a connecting assembly and a cutting assembly (100), and the cutting assembly (100) is connected to the chassis by means of the connecting assembly and can be switched between a first area (101) and a second area (102) relative to the chassis. The second area (102) is closer to the chassis than the first area (101), and when the cutting assembly (100) is located in the first area (101), the cutting assembly (100) operates; and when the cutting assembly (100) is located in the second area (102), the cutting assembly (100) stops operating. The robot can adapt to safe operation of various different cutting environments, and can avoid damage to the cutting assembly in the cutting process. Also provided are a control method for the robot and a computer storage medium.

Description

Robot, robot control method, and computer storage medium Technical Field

[0001] The present application relates to the field of lawn mowing equipment, and in particular to a robot, a robot control method, and a computer storage medium. Background Art

[0002] As people's living standards continue to improve, they have higher and higher requirements for leisure environments. Private gardens, parks, playgrounds and other places have become the best places for people to relax and have fun. Currently, robots are used to trim the lawns of private gardens, parks, playgrounds and other places from time to time to ensure their beauty.

[0003] The robot usually mows the grass under the drive of a moving component. However, the cutting component on the existing robot does not perform well in cutting environments such as boundaries or corners. Summary of the Invention

[0004] The present application provides a robot, a robot control method and a computer storage medium. The robot can switch between a first area and a second area to adapt to safe operations in various cutting environments. At the same time, when the cutting component moves from one position in the first area to the second area, the cutting speed of the cutting component gradually decreases until it stops working, thereby avoiding damage to the cutting component during the cutting process.

[0005] According to a first aspect of the present application, the present application provides a robot, comprising:

[0006] The robot body includes a body and a moving component, wherein the moving component is arranged on the body and is used to drive the body to move;

[0007] a cutting mechanism comprising a connecting assembly and a cutting assembly, wherein the cutting assembly is connected to the vehicle body via the connecting assembly and is capable of switching between a first area and a second area relative to the vehicle body;

[0008] The second area is closer to the vehicle body than the first area. When the cutting assembly is in the first area, the cutting assembly works; when the cutting assembly is in the second area, the cutting assembly stops working.

[0009] According to a second aspect of the present application, the present application further provides a robot, comprising:

[0010] body;

[0011] a cutting mechanism movably connected to the vehicle body to be expanded or retracted relative to the vehicle body, the cutting mechanism also being used to perform a cutting action;

[0012] A moving component, used for driving the vehicle body to move;

[0013] A detection component, used for detecting the position of the cutting mechanism;

[0014] A controller is electrically connected to the detection component, the cutting mechanism, and the moving component, and is used to:

[0015] According to the position of the cutting mechanism, the cutting mechanism and / or the moving component are controlled to perform corresponding actions.

[0016] According to a third aspect of the present application, the present application further provides a control method for a robot, the robot comprising a body and a cutting mechanism, the cutting mechanism being movably connected to the body to be expanded or retracted relative to the body, the cutting mechanism further being configured to perform a cutting action;

[0017] The method comprises:

[0018] obtaining a position of the cutting mechanism;

[0019] According to the position of the cutting mechanism, the cutting mechanism and / or the moving component are controlled to perform corresponding actions.

[0020] According to a fourth aspect of the present application, the present application further provides a robot, the robot comprising at least a memory and a processor;

[0021] The memory is used to store computer programs;

[0022] The processor is used to execute the computer program and enable the robot to implement the above-mentioned control method when executing the computer program.

[0023] According to the fifth aspect of the present application, the present application also provides a computer storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, a robot equipped with the processor implements the above-mentioned control method.

[0024] The technical solution provided by the embodiments of the present application may include the following beneficial effects: the present application designs a robot, a robot control method and a computer storage medium, the robot includes a robot body and a cutting mechanism, the robot body includes a vehicle body and a moving component, the cutting mechanism includes a connecting component and a cutting component, the cutting component is connected to the vehicle body through the connecting component, and the moving component is used to drive the vehicle body to move, so that the cutting component can cut the cutting object during the movement of the vehicle body; wherein, the cutting component can switch between the first area and the second area relative to the vehicle body, so that the cutting component can cut the edge area with certain undulations, and also ensure the maximum area when cutting the edge area.

[0025] Specifically, when the cutting assembly moves from one of the positions in the first area to the second area, the cutting speed of the cutting assembly decreases; when the cutting assembly is in the second area, the cutting assembly stops working, which ensures normal cutting of the cutting assembly between the first area and one of the positions in the first area, and when the cutting assembly moves from this position to the second area or enters the second area, the cutting speed of the cutting assembly decreases or even stops working, thereby effectively protecting the cutting assembly and preventing the cutting assembly from injuring people.

[0026] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] 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 description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0028] FIG1 is a schematic structural diagram of a cutting mechanism provided in one embodiment of the present application;

[0029] FIG2 is a schematic cross-sectional view of the cutting mechanism in FIG1 ;

[0030] FIG3 is a schematic diagram of the cutting mechanism deflected in the horizontal plane and in an extended state when the vehicle body in FIG1 is placed horizontally;

[0031] FIG4 is a schematic diagram of the cutting mechanism in FIG1 when in contact with an obstacle;

[0032] FIG5 is a schematic diagram of the cutting mechanism in FIG1 in a compressed state;

[0033] FIG6 is a partial cross-sectional schematic diagram of the cutting mechanism in FIG1 ;

[0034] FIG7 is a schematic cross-sectional view of the cutting assembly in FIG1 ;

[0035] FIG8 is an exploded schematic diagram of the cutting assembly in FIG1 ;

[0036] FIG9 is an exploded schematic diagram of the protective cover in FIG1 ;

[0037] FIG10 is a schematic structural diagram of the cutting blade in FIG1 ;

[0038] FIG11 is an exploded schematic diagram of the connecting arm in FIG1 ;

[0039] FIG. 12 is an exploded schematic diagram of the mounting assembly in FIG. 1 .

[0040] FIG13 is a block diagram of a module structure of a robot provided in an embodiment of the present application;

[0041] FIG14 is a schematic structural diagram of a cutting mechanism of a robot provided in an embodiment of the present application;

[0042] FIG15 is a schematic structural diagram of a cutting assembly 100 of a robot 1 provided in an embodiment of the present application;

[0043] FIG16 is a schematic diagram of a scene in which a cutting mechanism of a robot is deployed and retracted according to an embodiment of the present application;

[0044] FIG17 is a schematic diagram of a scenario in which a cutting mechanism of a robot collides with a vehicle body according to an embodiment of the present application;

[0045] FIG18 is a schematic flow chart of a robot control method provided in an embodiment of the present application;

[0046] Figure 19 is a schematic block diagram of the structure of another robot provided in an embodiment of the present application.

[0047] Explanation of reference numerals: 1000, cutting mechanism; 2000, robot body; 100, cutting assembly; 101, first area; 102, second area; 10, protective cover; 11, cover body; 111, mounting hole; 1111, sink structure; 12, protective edge strip; 121, anti-collision portion; 122, connecting portion; 123, edging structure; 20, cutter head; 21, cutting blade; 211, cutting section; 212, protective section; 213, blade mounting portion; 22, rotating disk; 221, fan structure; 30, driving motor; 31, motor body; 32, connecting housing; 311, output shaft; 40, bearing assembly; 50, abutment member; 60, transmission member; 200, connecting arm; 201, first connecting rod; 2011, first connecting portion; 2012, second connecting portion; 2013, threaded hole; 202, second connecting rod; 2021, first connecting portion; 2022, second connecting portion; 203, adjusting member; 2031, adjusting screw; 2032, elastic member; 300, mounting assembly; 301, mounting portion; 3011, limiting groove; 302, rotating portion; 3021, first mounting hole; 3022, second mounting hole; 3023, limiting column; 303, reset member; 304, connecting shaft; 400, obstacle; 500, vehicle body; 501, preset position; 600, moving assembly; 700, detection assembly; 800, controller; 901, processor; 902, memory. DETAILED DESCRIPTION

[0048] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0049] In the process of lawn maintenance, mowing the lawn is the most tedious and complicated. To reduce the labor intensity and cost, robots, such as lawn mowing robots, have been developed. Currently, a considerable number of lawn mowing robots are equipped with cutting blades to mow the lawn by rotating the cutting blades. However, current lawn mowing robots are not very effective at mowing grass near obstacles (such as walls).

[0050] Based on this, the present application provides a robot, a robot control method and a computer storage medium, which aim to realize intelligent control of the robot's cutting action to improve the robot's cutting effect on grass at the edge of obstacles (such as walls).

[0051] As shown in Figures 1 to 12, according to the first aspect of the present application, the present application provides a robot, including a robot body 2000 and a cutting mechanism 1000, the robot body 2000 includes a body and a moving component, the cutting mechanism 1000 is arranged on the body, and the moving component is arranged on the body for driving the body to move, so that the cutting mechanism 1000 can cut during the movement.

[0052] It should be noted that the moving component can be set at any position of the vehicle body, including but not limited to both sides of the vehicle body. This application is not limited to this. Its main purpose is to drive the vehicle body to move forward.

[0053] In this embodiment, the cutting mechanism 1000 includes a connecting assembly and a cutting assembly 100. The cutting assembly 100 is connected to the vehicle body via the connecting assembly and can switch between a first area 101 and a second area 102 relative to the vehicle body, so that the cutting assembly 100 can perform cutting work in the first area 101 and stop cutting work in the second area 102 to protect the cutting assembly 100 and prevent the cutting assembly 100 from injuring anyone. As shown in Figures 4 and 5, the second area 102 is closer to the vehicle body than the first area 101. When the cutting assembly 100 is in the first area 101, the cutting assembly 100 operates; when the cutting assembly is in the second area 102, the cutting assembly 100 stops operating to protect the cutting assembly 100 and prevent the cutting assembly 100 from injuring anyone.

[0054] In an optional embodiment, the area of ​​the first region 101 is larger than the area of ​​the second region 102 to ensure the maximum cutting area of ​​the cutting assembly 100 when cutting at edge areas such as aisle edges, wall surfaces, or fences, thereby ensuring the cutting effect. At the same time, when the cutting assembly 100 moves from one position in the first region 101 to the second region 102, the cutting speed of the cutting assembly 100 decreases; when the cutting assembly 100 is in the second region 102, the cutting assembly 100 stops working. This not only ensures the normal operation of the cutting assembly 100 in the first region 101, but also when the cutting assembly 100 moves to one position in the first region 101, if the cutting assembly 100 continues to move from this position toward the second region 102, the cutting speed of the cutting assembly 100 decreases until the cutting assembly 100 stops working when it is in the second region 102, effectively avoiding damage to the cutting assembly 100 during the cutting process and also preventing the cutting assembly 100 from causing harm to the human body.

[0055] It should be noted that the cutting speed of the cutting assembly 100 decreases during the process of moving from the first area 101 to the second area 102. This may include, but is not limited to, the cutting speed of the cutting assembly 100 gradually decreasing when the cutting assembly 100 moves from the first position to the second position in the first area 101; or, when the cutting assembly 100 has a first cutting speed in the first position, the cutting speed of the cutting assembly 100 has a second cutting speed in the second position, and the second cutting speed is less than the first cutting speed. The second position is closer to the second area 102 than the first position. Exemplarily, the first area 101 refers to the cutting component 100 being deflected by an angle β relative to the vehicle body to form the second area 102, and continuing to deflect by an angle α on the side of the second area 102 away from the vehicle body to form the first area 101, that is, the cutting component 100 can cut edge areas such as aisle edges, wall surfaces or fences within the first area 101 to ensure the cutting effect of the cutting component 100; and the cutting component 100 can be deflected arbitrarily within the first area 101, so that the cutting component 100 can cut in edge areas with certain undulations, and also ensure that the cutting component 100 has a cutting area with the maximum expansion angle within the edge area.

[0056] When the cutting assembly 100 is within the first region 101 and deflects toward the second region 102, and the deflection angle of the cutting assembly 100 is less than α, the cutting assembly 100 performs cutting. When the deflection angle of the cutting assembly 100 is γ, and γ is within the range of α, the cutting speed of the cutting assembly 100 gradually decreases as the cutting assembly 100 continues to deflect toward the second region 102. When the cutting assembly 100 continues to deflect in the opposite direction of the second region 102, the cutting speed of the cutting assembly 100 remains unchanged. γ can be any value not less than α.

[0057] In an optional embodiment, the connecting component includes a mounting component 300, and the mounting component 300 includes a rotating part 302 and a mounting part 301 connected to the vehicle body; wherein, the cutting component 100 is rotatably mounted on the mounting part 301 by the rotating part 302 and can deflect between the first area 301 and the second area 302, so that the cutting component 100 cuts at edge areas such as aisle edges, wall surfaces or fences, and when the cutting component 100 contacts obstacles 400 such as aisle edges, wall surfaces or fences, the obstacles 400 such as aisle edges, wall surfaces or fences will apply a reverse force to the cutting component 100 to deflect toward the second area 102, or the cutting component 100 automatically deflects toward the second area 102 under the drive of the connecting component, thereby avoiding the cutting component 100 from colliding with the obstacle while being able to move along the edges such as aisle edges, wall surfaces or fences to cut the edge areas. However, when the cutting assembly 100 collides with the obstacle 400 and moves toward the front of the obstacle, the obstacle 400 continues to squeeze the cutting assembly 100, causing the cutting assembly 100 to deflect at an angle greater than γ or even exceeding α. At this time, the cutting speed of the cutting assembly 100 gradually decreases or even stops working to protect the cutting assembly 100, or when the obstacle 400 is a human body, it can protect the human body from being harmed by the cutting assembly 100.

[0058] In an optional embodiment, the connecting assembly includes a reset member 303, which is arranged between the rotating part 302 and the mounting part 301, and is used to drive the rotating part 302 to rotate in the direction of the first area 101. At the same time, it can also provide a buffering force when the cutting assembly 100 collides with the obstacle 400, thereby reducing the impact force applied to the cutting assembly 100 when the obstacle 400 collides, avoiding damage to the cutting assembly 100, and extending the service life of the cutting assembly 100.

[0059] In an optional embodiment, the reset member 303 includes a spring structure, one end of the spring structure abuts against the rotating portion 302 , and the other end of the spring structure abuts against the mounting portion 301 .

[0060] Exemplarily, the spring structure includes, but is not limited to, a torsion spring, which is sleeved on the outside of the connecting shaft 304, and the two ends of the torsion spring are respectively connected to the rotating portion 302 and the mounting portion 301, so that the rotating portion 302 can always maintain an elastic force in the direction of the first area 101. When the cutting assembly 100 is in the first area 101 and contacts the obstacle 400, the impact force of the obstacle 400 on the cutting assembly 100 is greater than the elastic force of the reset member 303. The reset member 303 deforms to buffer the impact force generated by the obstacle 400 colliding with the cutting assembly 100. At the same time, the cutting assembly 100 can rotate relative to the mounting portion 301 toward the second area 102 to form an avoidance position for avoiding the obstacle 400. At this time, the rotation speed of the cutting assembly 100 gradually decreases; when the cutting assembly 100 completely enters the second area 102, the cutting assembly 100 stops working. In an optional embodiment, the robot includes a detection component, which is provided on at least one of the vehicle body and the connection component, and is used to detect the deflection angle of the cutting component 100 to control the cutting speed of the cutting component 100 .

[0061] Exemplarily, the detection component includes a mechanical sensor electrically connected to the cutting component 100, and the mechanical sensor is arranged between the mounting portion 301 and the rotating portion 302, and is used to detect the force condition of the torsion spring, so that the cutting component 100 can control its cutting speed or stop working according to the mechanical data detected by the mechanical sensor.

[0062] Specifically, when the mechanical data received by the cutting component 100 is greater than a predetermined value, the driving motor 30 stops working, and the cutting component 100 completely enters the second area 102; when the mechanical data received by the driving motor 30 is less than the predetermined value, the cutting component 100 controls its output speed according to the size of the mechanical data, so that the cutting component 100 can cut at different speeds in the first area 101; or, when the mechanical data is less than the first predetermined value, the cutting component 100 maintains the original cutting speed; when the mechanical data approaches the predetermined value within the first predetermined value, that is, when the deflection angle of the cutting component 100 is greater than γ, the cutting speed of the cutting component 100 gradually decreases; when the mechanical data is minimum, the cutting speed of the cutting component 100 is maximum, and the cutting component 100 is located on the side of the first area 101 away from the second area 102; when the mechanical data approaches the predetermined value, the cutting speed of the cutting component 100 gradually decreases until the mechanical data is equal to the predetermined value, and the cutting component 100 stops working.

[0063] In an optional embodiment, the detection component includes an angle sensor for collecting the deflection angle of the cutting component 100, and then the cutting speed of the cutting component 100 can be controlled according to the detection value of the angle sensor.

[0064] Exemplarily, an angle sensor is installed between the rotating portion 302 and the mounting portion 301, and can effectively identify whether the rotating portion 302 has rotated relative to the mounting portion 301, and then measure the deflection angle of the rotating portion 302 relative to the mounting portion 301. When the deflection angle of the rotating portion 302 from the maximum deployment angle toward the side of the vehicle body is less than α, the cutting assembly 100 is in the first area 101 and the cutting speed of the cutting assembly 100 can remain unchanged; alternatively, when the deflection angle of the rotating portion 302 is between γ and α, the cutting speed of the cutting assembly 100 gradually decreases, where γ is a deflection angle within α. When the deflection angle of the rotating portion 302 is greater than α, the cutting assembly 100 enters the second area 102 and stops working.

[0065] It should be noted that the detection component can also be other sensors, such as a limit switch and a Hall effect sensor, etc., and this application is not limited thereto. In an optional embodiment, a first connecting end surface is provided on the mounting portion, and a second connecting end surface is provided on the rotating portion 302. A limit member is connected between the first connecting end surface and the second connecting end surface. The limit member is used to limit the deflection angle of the rotating portion 302 relative to the mounting portion 301. That is, the cutting assembly 100 can only switch between the second area 102 corresponding to the deflection angle β and the first area 101 corresponding to the deflection angle α.

[0066] In an optional embodiment, the mounting assembly 300 further includes a connecting shaft 304, through which the rotating portion 302 is rotatably connected to the mounting portion 301. Specifically, the first connecting end surface is matingly connected to the second connecting end surface, and the connecting shaft 304 is disposed between the first connecting end surface and the second connecting end surface, for rotatably mounting the rotating portion 302 on the mounting portion 301.

[0067] In an optional embodiment, the limiting member includes a limiting groove 3011 and a limiting column 3023 cooperating with the limiting groove 3011; wherein, one of the limiting groove 3011 and the limiting column 3023 is arranged on the first connecting end face, and the other of the limiting groove 3011 and the limiting column 3023 is arranged on the second connecting end face, which is used to limit the rotation position of the rotating part 302 when the rotating part 302 rotates relative to the mounting part 301, so that the cutting assembly 100 can switch between the first area 101 and the second area 102.

[0068] Exemplarily, the limiting groove 3011 is provided on the first connection end surface, and the limiting column 3023 is provided on the second connection end surface; or, the limiting groove 3011 is provided on the second connection end surface, and the limiting column 3023 is provided on the first connection end surface.

[0069] In an optional embodiment, as shown in Figures 1, 2 and 11, the connecting assembly includes a connecting arm 200, and the cutting assembly 100 is mounted on the rotating portion 302 via the connecting arm 200. The connecting arm 200 is rotatable relative to the rotating portion 302, and the rotation axis of the connecting arm 200 when rotating around the rotating portion 302 is perpendicular to the rotation axis of the rotating portion 302 when rotating around the mounting portion 301, so that the cutting assembly 100 can rotate in the horizontal direction and / or height direction relative to the vehicle body, so that the height and extension length of the cutting assembly 100 can be adjusted.

[0070] In an optional embodiment, the connecting arm 200 can rotate relative to the rotating portion 302 around a first axis, and the rotating portion 302 can rotate relative to the mounting portion 301 around a second axis, and the first axis is perpendicular to the second axis.

[0071] In an optional embodiment, the connecting arm 200 includes a first connecting rod 201, a second connecting rod 202 and an adjusting member 203. The first connecting rod 201 and the second connecting rod 202 are connected between the rotating part 302 and the cutting assembly 100. The adjusting member 203 is connected between the first connecting rod 201 and the second connecting rod 202, and is used to adjust the height of the cutting assembly 100 and the ground, thereby adjusting the cutting height of the cutting object.

[0072] In an optional embodiment, the cutting assembly 100 is provided with two first connecting holes spaced apart in the height direction, and the rotating part 302 is provided with a first mounting hole 3021 and a second mounting hole 3022 spaced apart. The two ends of the first connecting rod 201 are respectively rotatably connected to the first mounting hole 3021 and one of the first connecting holes, and the two ends of the second connecting rod 202 are respectively rotatably connected to the second mounting hole 3022 and the other first connecting hole, so that the cutting assembly 100 can be floatingly connected to the rotating part 302 through the first connecting rod 201 and the second connecting rod 202.

[0073] Exemplarily, the first connecting rod 201 is provided with a first connecting portion 2011 and a second connecting portion 2012 at both ends; the second connecting rod 202 is provided with a first connecting portion 2021 and a second connecting portion 2022 at both ends, the first connecting portion 2011 and the first connecting portion 2021 are rotatably connected to the two first connecting holes, the second connecting portion 2012 and the second connecting portion 2022 are correspondingly connected to the first mounting hole 3021 and the second mounting hole 3022, the adjusting member 203 is threadedly connected to the first connecting rod 201 and can extend or retract toward one side of the second connecting rod 202, so that the floating angle of the cutting assembly 100 can be changed by adjusting the distance between the first connecting rod 201 and the second connecting rod 202, and the cutting height can be adjusted.

[0074] In an optional embodiment, the adjusting member 203 includes an adjusting screw 2031 and an elastic member 2032. A threaded hole 2013 is provided on the first connecting rod 201. The adjusting screw 2031 is threadedly connected in the threaded hole 2013 and extends to the second connecting rod 202. The elastic member 2032 is arranged between the first connecting rod 201 and the second connecting rod 202.

[0075] In an optional embodiment, the cutting assembly includes a drive assembly, a cutter disc 20 and a protective device. A cutting blade 21 is provided on the cutter disc 20. The drive assembly includes a drive motor 30. The drive motor 30 is connected to the vehicle body through a connecting assembly. The protective device is provided on the outside of the cutting blade 21 for protecting the cutting blade 21 and preventing the cutting blade 21 from being damaged by collision with an obstacle 400. The drive motor 30 is in transmission connection with the cutting blade 21 for driving the cutting blade 21 to rotate for performing cutting operations.

[0076] In an optional embodiment, the drive motor 30 includes a motor body 31 and a connecting shell 32 , the motor body 31 is installed on the inner side of the connecting shell 32 , the connecting shell 32 is connected to the vehicle body through a connecting assembly, and the protective device is installed on the connecting shell 32 .

[0077] In an optional embodiment, the protective device is provided with a protective edge strip 12 made of a flexible material on the side facing away from the vehicle body. At least part of the structure of the protective edge strip 12 is arranged toward the outside of the cutting blade 21, and can approach the outer end face of the cutting blade 21 during the compression process to reduce the distance between the cutting blade 21 and the edge of the protective device, thereby effectively cutting the cutting object at the edge of the protective device.

[0078] Exemplarily, the protective device includes a protective cover 10, at least part of which is made of a flexible material. The protective cover 10 is positioned outside the cutting blade 21 to effectively protect the cutting blade 21 from colliding with an obstacle 400 and causing damage. The protective edge strip 12 is at least part of the protective cover 10 made of a flexible material. The outermost end of the cutting blade 21 is located between the inner and outer sides of the protective edge strip 12, and the compressed length of the protective edge strip 12 is less than the maximum length between the outermost end of the cutting blade 21 and the outer side of the protective edge strip 12. This not only effectively protects the cutting blade 21, but also reduces the distance between the cutting blade 21 and the edge of the protective cover 10, allowing the cutting blade 21 to effectively cut objects at the edge of the protective cover 10.

[0079] After adopting the above technical solution, since at least part of the structure on the protective cover 10 is a protective edge strip 12 made of flexible material, the protective edge strip 12 is arranged on the outside of the cutting blade 21 and exceeds the outermost end of the cutting blade 21, so that the cutting blade 21 can be effectively protected to prevent the cutting blade 21 from causing damage to the blade itself, the human body and obstacles 400; at the same time, the elastic force of the protective edge strip 12 itself can also buffer the impact force after the cutting mechanism 1000 collides with the obstacle 400, thereby avoiding damage to the edge cutting mechanism 1000, thereby extending the service life of the cutting mechanism 1000. Among them, the outermost end of the cutting blade 21 is located between the inner and outer sides of the protective edge strip 12, and the length of the protective edge strip 12 after compression is less than the maximum length between the outermost end of the cutting blade 21 and the outer side of the protective edge strip 12, so that the protective edge strip 12 can approach the outer end face of the cutting blade 21 during the compression process, while avoiding the cutting blade 21 from being exposed on the outside of the protective edge strip 12, and reducing the distance between the cutting blade 21 and the edge of the protective cover 10, thereby effectively cutting the cutting object on the edge of the protective cover 10.

[0080] For example, when the robot body 2000 drives the cutting assembly 100 to cut an object at a location such as the edge of a lawn aisle, a wall, or a fence, the cutting assembly 100, driven by the connecting assembly, extends toward the edge of the aisle, the wall, or the fence, or the cutting assembly 100 comes into contact with the edge of the aisle, the wall, or the fence during the movement of the robot body 2000. At this time, the protective edge strip 12 deforms under the pressure of the aisle edge, the wall, or the fence, allowing the cutting blade 21 to approach the aisle edge, the wall, or the fence, thereby effectively cutting the object at the aisle edge, the wall, or the fence. At the same time, when the cutting assembly 100 collides with the edge of the aisle, the wall surface or the fence, the protective edge strip 12 can play a buffering role, reducing the impact force applied to the cutting assembly 100 when the obstacle 400 collides, and then the protective edge strip 12 is compressed and adhered to the edge of the aisle, the wall surface or the fence when the robot body 2000 continues to move, which can reduce the distance between the cutting blade 21 and the edge of the protective cover 10, thereby effectively cutting the cutting object at the edge of the protective cover 10.

[0081] In an optional embodiment, as shown in Figures 6, 8 and 9, the protective cover 10 includes a cover body 11, and the protective edge strip 12 has a connecting portion 122 and an anti-collision portion 121 made of a flexible material. The anti-collision portion 121 is arranged on the outside of the protective cover 10 through the connecting portion 122, and the outermost end of the cutting blade 21 is located between the connecting portion 122 and the anti-collision portion 121. Among them, the connecting portion 122 can be made of hard rubber material and can be fixed on the cover body 11 more firmly. In this embodiment, the anti-collision portion 121 and the connecting portion 122 are integrally formed by an injection molding process, so that both the soft and hard materials of the protective edge strip 12 can be reasonably utilized, while also reducing the production cost of the protective edge strip 12, and having the advantages of stable structure, high strength, and long service life.

[0082] In an optional embodiment, the anti-collision portion 121 includes a plurality of flexible units arranged at intervals, which extend radially outward from the connecting portion 122 and can be compressed when the protective cover 10 is subjected to force, thereby reducing the possibility of the flexible units breaking due to friction with obstacles 400. At the same time, it can also make the cutting blade 21 approach the edge of the protective cover 10, thereby effectively cutting the cutting object at the edge of the protective cover 10.

[0083] In an optional embodiment, as shown in Figures 4, 8 and 9, the outward extension length of the flexible unit is greater than the distance between two adjacent flexible units, so that when the robot body 2000 drives the cutting component 100 to cut the cutting object along the aisle edge, wall surface, fence and other scenes of the lawn, the flexible unit contacts and compresses obstacles 400 such as the aisle edge, wall surface, fence, etc., and the outward extension length of the flexible unit is set to be greater than the distance between two adjacent flexible units. The flexible unit compressed first can be used to fit and compress the flexible unit compressed later during the compression process. This not only buffers the flexible unit compressed first, but also avoids the flexible unit compressed later from directly colliding with the obstacle 400. The noise can be reduced by compressing the flexible units layer by layer, and the force points of the flexible units can be dispersed, thereby improving the service life of the flexible units.

[0084] In an optional embodiment, the flexible units extend obliquely in the same direction along the connecting portion 122, and are arranged counterclockwise on the outer circumference of the protective cover 10. This allows the flexible units to act as a buffer when the cutting assembly 100 collides with an obstacle 400 while the robot body 2000 is driving the cutting assembly 100. As the robot body 2000 continues to drive the cutting assembly 100 to cut the object, the flexible units are compressed one by one along the obstacles 400. Because the flexible units are obliquely arranged in the same direction and arranged counterclockwise on the outer circumference of the protective cover 10, the compression direction of the flexible units is also along the counterclockwise direction of the protective cover 10, with the flexible units stacked one on top of the other.

[0085] In an optional embodiment, the connecting portion 122 has a edging structure 123 made of a hard material, and the edging structure 123 is arranged around the periphery of the cover body 11. The anti-collision portion 121 and the edging structure 123 are integrally formed, so that the connecting portion 122 can be firmly fixed on the periphery of the cover body 11. At the same time, the anti-collision portion 121 can also be used to play a buffering role and reduce the edge distance between the cutting blade 21 and the protective cover 10, thereby effectively cutting the cutting object on the edge of the protective cover 10.

[0086] In one optional embodiment, the edging structure 123 is provided with an arcuate annular groove, and the connecting portion 122 secures the arcuate annular groove to the outer side of the cover body 11 by assembly. Alternatively, the edging structure 123 is integrally formed with the cover body 11 through an injection molding process to achieve a fixed connection between the protective edge strip 12 and the cover body 11. The use of integral molding can reduce the assembly process between the protective edge strip 12 and the cover body 11, and by securing the arcuate annular groove to the outer side of the cover body 11 by assembly, it is possible to replace only the protective edge strip 12 when it is damaged, without having to replace the entire protective cover 10, thereby reducing the cost of use.

[0087] In an optional embodiment, the protective cover 10 has a edging structure 123 that is at least partially made of hard material, and the protective edge strip 12 and the edging structure 123 are integrally formed, so that both the soft and hard materials of the protective cover 10 can be reasonably utilized. At the same time, the soft and hard materials can also be processed into one through the injection molding process to improve the connection strength of the overall product. It can also be compressed through flexible materials, which can not only play a buffering role, but also reduce the distance between the cutting blade 21 and the edge of the protective cover 10, thereby effectively cutting the cutting object on the edge of the protective cover 10.

[0088] In an optional embodiment, as shown in Figures 7 to 9, the cutting assembly 100 includes a bearing assembly 40. The protective cover 10 is provided with a mounting hole 111. The outer ring of the bearing assembly 40 is mounted in the mounting hole 111, and the inner ring of the bearing assembly 40 is connected to the output shaft 311 of the drive motor 30, so that the protective cover 10 can rotate relative to the output shaft 311 of the drive motor 30. In other words, the protective cover 10 does not rely on the drive motor 30 and can rotate independently. When the cutting assembly 100 approaches the edge of an aisle, a wall surface, a fence, etc., the protective cover 10 can rotate independently, so that the contact friction between the protective cover 10 and the edge can be converted into rolling friction, thereby reducing damage to the protective edge strip 12 caused by friction.

[0089] In an optional embodiment, the bearing assembly 40 includes a first bearing member and a second bearing member, wherein two groove structures 1111 are respectively provided at both ends of the mounting hole 111, namely the first groove and the second groove, so that the first bearing member and the second bearing member can be installed in the first groove and the second groove respectively.

[0090] In an optional embodiment, the protective device also includes a protective member, which is arranged on the outside of the protective cover 10, and at least part of the structure of the protective member exceeds the outer contour of the protective cover 10 in the forward direction of the robot, which can effectively prevent the cutting assembly 100 from causing direct injury to people in the front position, thereby improving the safety of the protective cover 10.

[0091] In an optional embodiment, a protective portion is formed on the protective member, which extends toward the forward direction of the robot and exceeds the outer contour of the protective cover 10, thereby preventing the cutting assembly 100 from causing direct injury to people in the front position, thereby improving the safety of the protective cover 10.

[0092] In an optional embodiment, a avoidance opening is formed on the protective member, and the avoidance opening is arranged on the side away from the robot toward the cutting mechanism 1000, so that the protective edge strip 12 located on the side of the avoidance opening can contact and compress the obstacle 400, thereby reducing the distance between the cutting blade 21 and the edge of the protective cover 10, and then effectively cutting the cutting object on the edge of the protective cover 10.

[0093] In an optional embodiment, the protective member includes a protective strip, which is surrounded to form a semi-ring structure with an avoidance opening. The semi-ring structure is fixedly connected to the drive motor 30 and is arranged in the forward direction of the robot, so as to prevent the cutting assembly 100 from causing direct injuries in the front position, thereby improving the safety of the protective cover 10. The avoidance opening can compress the protective edge strip 12 when it contacts the obstacle 400, reducing the distance between the cutting blade 21 and the edge of the protective cover 10, so that the cutting object at the edge of the protective cover 10 can be effectively cut.

[0094] In an optional embodiment, the protective member may also include a special-shaped baffle of other shapes, at least a portion of the special-shaped baffle extends along the forward direction of the robot and exceeds the outer contour of the protective cover 10 to form a protective portion, and at least a portion of the special-shaped baffle is recessed toward its inner side to form a avoidance opening, so that the protective edge strip 12 located on one side of the avoidance opening can contact and compress the obstacle 400, thereby reducing the distance between the cutting blade 21 and the edge of the protective cover 10, and then effectively cutting the cutting object at the edge of the protective cover 10.

[0095] In an optional embodiment, the protective cover 10 is arranged between the drive motor 30 and the cutter disc 20 and is rotatably connected to the output shaft 311 of the drive assembly, so that the protective cover 10 can protect the cutter disc 20 and can move independently relative to the output shaft 311. When the protective cover 10 is close to the edge of the aisle, wall surface, fence, etc., it can convert the contact friction with the edge of the aisle, wall surface and fence into rolling friction, thereby reducing the damage to the protective edge strip 12 caused by friction.

[0096] In an optional embodiment, as shown in Figures 6 to 8, the cutting blade 21 is provided with a cutting section 211 and a protective section 212 at intervals. The protective section 212 is used to prevent non-cut objects from entering the cutting section 211. The outermost protective section 212 is located between the inner and outer sides of the protective edge strip 12 to prevent the cutting section 211 from colliding with the edge of the aisle, wall surface, fence, etc. after the protective edge strip 12 is worn, thereby improving the safety of the cutting blade 21.

[0097] In an optional embodiment, the cutting section 211 has a thin sheet structure to form a cutting blade, and the protective section 212 has a thick and blunt structure and protrudes from the cutting end face of the cutting section 211, which can not only protect the blade but also tear the cutting object during cutting.

[0098] In an alternative embodiment, as shown in Figures 8 and 10, the cutting blade 21 includes a blade body, a cutting segment 211, and a protective segment 212 disposed on a fixed edge of the blade body and extending from the fixed edge toward the cutting edge on the other side. The cutting segment 211 is primarily used to cut the material, while the protective segment 212 is used to protect the cutting segment 211. The protective segment 212 can also be used to tear the material while the cutting segment 211 is cutting. The cross-sectional area of ​​the protective segment 212 gradually decreases from the fixed edge toward the cutting edge, such that the spacing between adjacent protective segments 212 increases along the extension direction of the protective segment 212, thereby increasing the cutting area of ​​the cutting segment 211 and improving the cutting effect of the cutting segment 211. Furthermore, when the cutting segment 211 fails to completely sever the material in one go, a portion of the protective segment 212 located on one side of the cutting segment 211 can be used to tear the material a second time, thereby ensuring the cutting effect of the robot.

[0099] In an optional embodiment, the cutter disc 20 includes a rotating disc 22, and the cutting blade 21 is installed on the rotating disc 22. The rotating disc 22 is transmission-connected to the output shaft 311 of the drive motor 30 to receive the mechanical energy of the drive motor 30, so that the cutting blade 21 as a whole can perform circular motion, thereby realizing the cutting operation.

[0100] In an optional embodiment, the number of cutting blades 21 can be two or more. When the number of cutting blades 21 is two, the two cutting blades 21 are symmetrically arranged on both sides of the rotating disk 22; when the number of cutting blades 21 is three or more, the three or more cutting blades 21 can be arranged on the peripheral side of the rotating disk 22 to form a circular array around the center of the rotating disk 22.

[0101] It should be noted that too many cutting blades 21 will cause interference between the cutting blades 21, while too few will reduce the cutting efficiency. Therefore, it is best to set the number to two to three.

[0102] In an optional embodiment, a blade mounting portion 213 is provided at one end of the cutting blade 21 , so that the cutting blade 21 can be rotatably mounted on the rotating disk 22 through the blade mounting portion 213 .

[0103] In an optional embodiment, a fan structure 221 is provided on the side of the rotating disk 22 facing away from the cutting blade 21. The fan structure 221 is used to generate an airflow toward the cutting blade 21, thereby blowing the debris of the cut material out of the rotating disk 22 to prevent the debris from entering the gap between the protective cover 10 and the rotating disk 22, thereby affecting the operation of the drive motor 30 and even causing the drive motor 30 to jam. In addition, the airflow can also dissipate heat from the drive motor 30, effectively preventing the drive motor 30 from overheating.

[0104] In an optional embodiment, as shown in Figures 6 to 8, the cutting assembly 100 includes an abutment 50, which is arranged below the cutting blade 21 and is used to drive the cutting blade 21 to move upward when the cutting assembly 100 contacts the obstacle 400, so that the cutting assembly 100 floats upward as a whole, avoiding the collision of the cutting blade 21 with the obstacle 400, thereby effectively extending the service life of the cutting blade 21; or, when the obstacle 400 enters the bottom of the abutment 50, the obstacle 400 can reduce the cutting speed of the cutting blade 21 when lifting the cutting assembly 100 as a whole, thereby avoiding secondary damage to the cutting blade 21.

[0105] In an optional embodiment, the side of the abutment 50 facing away from the cutting blade 21 is an outwardly convex arc structure, which can reduce the contact area between the obstacle 400 and the abutment 50, thereby ensuring that the cutting blade 21 can cut slowly when it contacts the obstacle 400, avoiding secondary damage to the cutting blade 21; it can also protect the abutment 50 and the drive motor 30, reducing the friction between the abutment 50 and the obstacle 400 and the risk of damage to the drive motor 30 due to stalling, thereby increasing the life of the drive motor 30.

[0106] In an optional embodiment, the cutting assembly 100 includes a transmission member 60 , one end of the transmission member 60 is connected to the output shaft 311 of the drive motor 30 , and the other end of the transmission member 60 is connected to the rotating disk 22 .

[0107] Please refer to Figures 13 and 14. Figure 13 is a module structure block diagram of a robot 1 provided in an embodiment of the present application, and Figure 14 is a structural schematic diagram of a cutting mechanism 1000 of a robot 1 provided in an embodiment of the present application.

[0108] As shown in Figures 13 and 14, according to the second aspect of the present application, the present application provides a robot 1, which includes a body 500, a cutting mechanism 1000, a moving component 600, a detection component 700 and a controller 800. The various parts of the robot 1 are described in detail below.

[0109] Specifically, the cutting mechanism 1000 is movably connected to the vehicle body 500 so as to be expanded or retracted relative to the vehicle body 500, and the cutting mechanism 1000 is also used to perform cutting actions; the moving component 600 is connected to the vehicle body 500 and is used to drive the vehicle body 500 to move; and the detection component 700 is used to detect the position of the cutting mechanism 1000; the controller 800 is electrically connected to the detection component 700, the cutting mechanism 1000 and the moving component 600, and is used to control the cutting mechanism 1000 and / or the moving component 600 to perform corresponding actions according to the position of the cutting mechanism 1000.

[0110] It should be noted that when the controller 800 controls the cutting mechanism 1000 to perform a corresponding action, the control performed on the cutting mechanism 1000 includes, but is not limited to, at least one of the following control operations: controlling the cutting mechanism 1000 to start or stop cutting, controlling the position of the cutting mechanism 1000 relative to the vehicle body 500, and controlling the intensity of the cutting action performed by the cutting mechanism 1000. For example, when the cutting mechanism 1000 includes a blade for cutting, the control device can adjust the movement speed (e.g., rotation speed) of the blade to control the intensity of the cutting action performed by the cutting mechanism 1000.

[0111] On the other hand, when the controller 800 controls the moving component 600 to perform corresponding actions, the control performed on the cutting mechanism 1000 is, for example: controlling the moving component 600 to drive the vehicle body 500 to move to the target position, or moving the target distance in the target direction, or adjusting the moving speed of the robot 1 through the moving component 600, thereby realizing the overall movement control of the robot 1.

[0112] For example, the robot 1 is a lawn mower or a lawn mowing robot. Accordingly, the target objects cut by the robot 1 and the cutting mechanism 1000 are grass stems, leaves, branches, etc. It should be noted that the existing lawn mowing robots are easily blocked by obstacles when driving near obstacles, and when cutting target objects at the edge of obstacles, the cutting mechanism 1000 may encounter the problem of excessive contact with the obstacles and damage.

[0113] Therefore, in the robot 1 provided in the embodiment of the present application, based on the position detection of the cutting mechanism 1000 by the detection component 700 and the control of the cutting mechanism 1000 and / or the moving component 600 by the controller 800, intelligent control of the cutting action of the robot 1 is realized, thereby improving the cutting effect of the robot 1 on the grass at the edge of the obstacle (such as a wall), and protecting the cutting mechanism 1000 when the robot 1 cuts the grass at the edge of the obstacle (such as a wall).

[0114] As shown in FIG14 , in some embodiments, the robot 1 includes a reset member 303 disposed between the vehicle body 500 and the cutting mechanism 1000 , and the reset member 303 is used to provide a force for resetting the cutting mechanism 1000 to the first area;

[0115] In which, when the cutting mechanism 1000 is in contact with the target object, the controller 800 controls the moving component 600 to drive the vehicle body 500 to move along the target moving direction, so that the cutting mechanism 1000 moves to the second area under the pressure applied by the target object and the force provided by the reset member 303.

[0116] First of all, it should be pointed out that the structure shown by reference numeral 10 in FIG. 14 is only a part of the vehicle body 500 (specifically, the mounting seat connected to the cutting mechanism 1000 ), rather than the complete structure of the vehicle body 500 .

[0117] Specifically, the cutting mechanism 1000 forms a movable connection with the vehicle body 500, that is, the relative position of the cutting mechanism 1000 and the vehicle body 500 can be adjusted, including: expanding or contracting the cutting mechanism 1000 relative to the vehicle body 500, or adjusting the expansion range of the cutting mechanism 1000 relative to the vehicle body 500.

[0118] The target moving direction is a direction that enables the cutting mechanism 1000 to move to the second area under the action of the pressure applied by the target object and the force provided by the restoring member 303 .

[0119] For example, if the current expansion range of the cutting mechanism 1000 is smaller than the second area, the target moving direction is to move the vehicle body away from the obstacle 400; if the current expansion range of the cutting mechanism 1000 is larger than the second area, the target moving direction is to move the vehicle body closer to the obstacle 400.

[0120] What needs to be explained about the reset member 303 is that the reset member 303 is used to provide a force to reset the cutting mechanism 1000 to the first area, that is, only under the action of the reset member 303, the expansion range of the cutting mechanism 1000 relative to the vehicle body 500 is the first preset range; on the other hand, when the cutting mechanism 1000 is compressed and retracted toward the vehicle body 500 by an external object, the force provided by the reset member 303 to the cutting mechanism 1000 is in the same direction as the expansion direction of the cutting mechanism 1000.

[0121] It should also be noted that when the controller 800 determines that the cutting mechanism 1000 is in contact with the target object, it controls the moving component 600 to drive the vehicle body 500 to move along the target moving direction. At the same time, the cutting mechanism 1000 moves to the second area under the pressure applied by the target object and the force provided by the reset member 303, so that the moving direction of the robot 1 bypasses the target object or moves along the edge of the target object to perform a cutting action on the grass blades at the edge of the target object.

[0122] The target object is, for example, an obstacle 400 such as a wall or a stone.

[0123] In some embodiments, the second area is smaller than the first area. Therefore, when the cutting mechanism 1000 contacts the target object, the controller 800 can passively retract the cutting mechanism 1000 by controlling the movement of the moving component 600. The cutting mechanism 1000 can press the obstacle 400 under the action of the force provided by the reset member 303, so that when the robot 1 travels on the edge of the obstacle, the cutting mechanism 1000 can cut close to the edge of the obstacle 400, thereby improving the robot 1's grass cutting effect on the edge of the obstacle 400.

[0124] Exemplarily, the reset member 303 includes a torsion spring connected between the vehicle body 500 and the cutting mechanism 1000, which is used to provide a force to reset the cutting mechanism 1000 to the first area, and when the cutting mechanism 1000 is compressed and retracted toward the vehicle body 500 by an external object, the torsion spring produces elastic deformation and applies a force in the same direction as the expansion direction to the cutting mechanism 1000 based on the elastic deformation.

[0125] Please refer to FIG. 15 , which is a schematic structural diagram of a cutting assembly 100 of a robot 1 provided in an embodiment of the present application.

[0126] As shown in FIG14 and FIG15 , in some embodiments, the cutting mechanism 1000 includes a connecting assembly and a cutting assembly 100 for performing a cutting action. The cutting assembly 100 is movably connected to the vehicle body 500 via the connecting assembly, and the cutting assembly 100 is retracted toward the vehicle body 500 when blocked by external objects.

[0127] When the cutting assembly 100 is retracted toward the vehicle body 500 to the second position, the controller 800 controls the cutting mechanism 1000 to reduce the cutting speed.

[0128] Specifically, the cutting assembly 100 forms a movable connection with the vehicle body 500 through the connecting assembly, that is, the relative position of the cutting assembly 100 and the vehicle body 500 can be adjusted, including: expanding or contracting the cutting assembly 100 relative to the vehicle body 500, or adjusting the expansion range of the cutting assembly 100 relative to the vehicle body 500.

[0129] It should be noted that the cutting assembly 100 includes at least one cutting blade 21. For example, the cutting mechanism shown in FIG15 is provided with two cutting blades 21. The cutting speed of the cutting mechanism 1000 is the movement speed of the cutting blade 21 of the cutting assembly 100. The higher the movement speed of the cutting blade 21, the greater the cutting intensity; the lower the movement speed of the cutting blade 21, the lower the cutting intensity. Exemplarily, the cutting mechanism 1000 drives the cutting blade 21 to rotate or reciprocate to cut the grass blades.

[0130] In some embodiments, the cutting assembly 100 further includes a driving assembly connected to the cutting blade 21 , and the driving assembly is electrically connected to the controller and is configured to drive the cutting blade 21 to rotate or reciprocate under the control of the controller to cut grass blades.

[0131] It should be noted that the second position is a preset expanded position of the cutting assembly 100 relative to the vehicle body 500. When the cutting assembly 100 is retracted to the second position toward the vehicle body 500, it can be determined that the cutting assembly 100 contacts an external object, and the controller 800 controls the cutting speed of the cutting mechanism 1000 to decrease to avoid damage to the cutting assembly 100 when the cutting assembly 100 is in excessive contact with the vehicle body 500, such as damage to the cutting blade, thereby protecting the cutting assembly 100, and reducing the cutting speed of the cutting mechanism 1000 can effectively avoid accidental cutting of non-target cutting objects (such as humans or animals) to improve cutting safety.

[0132] In some embodiments, the controller 800 is also used to adjust the cutting speed of the cutting mechanism 1000 according to the expansion range of the cutting mechanism 1000 relative to the vehicle body 500, so that the expansion range of the cutting mechanism 1000 relative to the vehicle body 500 is proportional to the cutting speed of the cutting mechanism 1000. The greater the expansion range of the cutting mechanism 1000 relative to the vehicle body 500, the greater the cutting speed of the cutting mechanism 1000; the smaller the expansion range of the cutting mechanism 1000 relative to the vehicle body 500, the smaller the cutting speed of the cutting mechanism 1000. Therefore, the cutting speed of the cutting mechanism 1000 can be adjusted progressively.

[0133] To supplement Figure 15, the structure shown in the moving component 600 in Figure 15 is only an example. The actual moving component 600 can be realized by setting four movable wheels as shown in Figure 15, or it can be realized by setting more or fewer movable wheels, or using other forms of movable mechanisms.

[0134] Please refer to FIG. 16 , which is a schematic diagram of a scene in which a cutting mechanism 1000 in a robot 1 is expanded and collapsed according to an embodiment of the present application.

[0135] As shown in Figure 16(a)(b), in some embodiments, when the expansion amplitude of the cutting mechanism 1000 relative to the vehicle body 500 is less than a preset amplitude threshold, the controller 800 controls the mowing speed of the cutting mechanism 1000 to drop to zero, wherein the expansion amplitude is determined by the positional relationship of the cutting mechanism 1000 relative to the vehicle body 500.

[0136] Specifically, as shown in Figure 16(b), when the expansion amplitude of the cutting mechanism 1000 relative to the vehicle body 500 is less than a preset amplitude threshold, it can be determined that the cutting mechanism 1000 has been fully retracted under the pressure of an external object, and the controller 800 controls the cutting speed of the cutting mechanism 1000 to drop to zero to avoid damage to the cutting component 100, thereby protecting the cutting mechanism 1000, such as the cutting blade therein, and can effectively avoid accidental cutting of non-target cutting objects (such as humans or animals) to improve cutting safety.

[0137] As shown in FIG16 , in some embodiments, the connecting assembly includes a mounting assembly 300 connected to the vehicle body 500 and the cutting assembly 100 , respectively, and the cutting assembly 100 is rotatably engaged with the vehicle body 500 via the mounting assembly 300 to be expanded or retracted relative to the vehicle body 500 ;

[0138] Among them, the detection component 700 is connected to at least one of the vehicle body 500, the installation component 300 and the cutting component 100 to detect the rotation angle of the cutting component 100 relative to the vehicle body 500, and the rotation angle is used to characterize the positional relationship between the cutting mechanism 1000 and the vehicle body 500.

[0139] Specifically, the cutting assembly 100 is rotatably coordinated with the vehicle body 500 through the mounting assembly 300, and the expansion range of the cutting assembly 100 relative to the vehicle body 500 can be adjusted by rotation. Specifically, the greater the rotation angle of the cutting assembly 100 toward the outside of the vehicle body 500, the greater the expansion range of the cutting assembly 100 relative to the vehicle body 500, and conversely, the smaller the expansion range of the cutting assembly 100 relative to the vehicle body 500.

[0140] Based on this, the detection component 700 can conveniently and accurately measure the expansion range of the cutting component 100 relative to the vehicle body 500 according to the rotation angle of the cutting component 100 relative to the vehicle body 500.

[0141] In some embodiments, the connecting assembly further includes a reset member connected between the vehicle body 500 and the cutting assembly 100. When the cutting assembly 100 rotates relative to the vehicle body 500, the reset member undergoes torsional deformation.

[0142] The detection assembly 700 is further used to detect the torsion of the reset member to determine the rotation angle of the cutting assembly 100 relative to the vehicle body 500 .

[0143] Specifically, the greater the degree of torsion of the reset member, the greater the extent of expansion of the cutting assembly 100 relative to the vehicle body 500; conversely, the smaller the extent of expansion of the cutting assembly 100 relative to the vehicle body 500. The controller 800 can determine the positional relationship between the cutting mechanism 1000 and the vehicle body 500 based on the degree of torsion of the reset member, and further determine the operating state of the robot 1 based on the positional relationship between the cutting mechanism 1000 and the vehicle body 500, for example, determining whether the cutting mechanism 1000 is in contact with the target object, or determining the retracted position of the cutting mechanism 1000 or the cutting assembly 100.

[0144] Exemplarily, the connecting assembly also includes a torsion spring connected between the vehicle body 500 and the cutting assembly 100, and the detection assembly 700 includes a force sensor connected to the torsion spring and can be used to detect the elastic force output by the torsion spring to detect the torsion degree of the reset member, thereby determining the rotation angle of the cutting assembly 100 relative to the vehicle body 500 based on the torsion degree of the reset member.

[0145] In some embodiments, the connecting assembly includes a telescopic assembly connected to the vehicle body 500 and the cutting assembly 100, and the telescopic assembly is used to adjust the distance of the cutting assembly 100 relative to the vehicle body 500;

[0146] Among them, the detection component 700 is connected to at least one of the vehicle body 500, the telescopic component and the cutting component 100 to detect the moving distance of the cutting component 100 relative to the vehicle body 500, and the moving distance is used to characterize the positional relationship between the cutting mechanism 1000 and the vehicle body 500.

[0147] Specifically, the telescopic component is connected between the vehicle body 500 and the cutting component 100, and the telescopic component can telescopically adjust the distance of the cutting component 100 relative to the vehicle body 500: when the telescopic component is extended, the cutting mechanism 1000 is unfolded and the distance of the cutting component 100 relative to the vehicle body 500 increases; when the telescopic component is compressed, the cutting mechanism 1000 is retracted and the distance of the cutting component 100 relative to the vehicle body 500 decreases.

[0148] Correspondingly, the detection component 700 can be used to detect the moving distance of the cutting component 100 relative to the vehicle body 500, and the controller 800 can determine the positional relationship between the cutting mechanism 1000 and the vehicle body 500 based on the moving distance, and then determine the working state of the robot 1 based on the positional relationship between the cutting mechanism 1000 and the vehicle body 500, for example: determining whether the cutting mechanism 1000 is in contact with the target object, and determining the retracted position of the cutting mechanism 1000 or the cutting component 100.

[0149] Please refer to FIG. 17 , which is a schematic diagram of a scenario in which a cutting mechanism of a robot 1 collides with a vehicle body according to an embodiment of the present application.

[0150] As shown in FIG17 , in some embodiments, the detection assembly 700 includes a collision sensor disposed at a predetermined position 501 of the vehicle body 500 and electrically connected to the controller 800 , wherein the predetermined position 501 is the position on the vehicle body 500 that contacts the cutting mechanism 1000 when the cutting mechanism 1000 is retracted to the extreme position;

[0151] The collision sensor is configured to output a collision signal matching the collision intensity when colliding with the cutting mechanism 1000. The controller 800 is used to control the cutting speed of the cutting mechanism 1000 to drop to zero when the collision signal meets a preset condition.

[0152] Specifically, the signal characteristics of the collision signal output by the collision sensor match the collision intensity. Exemplarily, the signal characteristic is the collision signal's intensity. That is, the greater the collision intensity, the higher the collision signal's intensity; conversely, the lower the collision intensity, the lower the collision signal's intensity. Accordingly, the controller 800 can determine the collision intensity between the cutting mechanism 1000 and the vehicle body 500 based on the signal characteristics of the collision signal.

[0153] Furthermore, the controller 800 is configured to control the cutting speed of the cutting mechanism 1000 to drop to zero when the collision signal satisfies a preset condition. It should be noted that when the collision signal satisfies the preset condition, it indicates that the collision intensity between the cutting mechanism 1000 and the vehicle body 500 is greater than a designed target value. In this case, the robot 1 may collide with an external object, causing the cutting mechanism 1000 to rapidly retract and collide with the vehicle body 500. Therefore, when the collision signal satisfies the preset condition, the controller 800 controls the cutting speed of the cutting mechanism 1000 to drop to zero. This effectively prevents damage to the cutting assembly 100, thereby protecting the cutting mechanism 1000, such as the cutting blades therein, and improving the adaptability of the cutting mechanism 1000 to cutting blades of grass at the edge of the obstacle 400.

[0154] Please refer to Figure 18, which is a flow chart of a robot control method provided in an embodiment of the present application.

[0155] As shown in Figures 13 to 18, the present application also provides a control method for a robot 1, wherein the robot 1 includes a vehicle body 500 and a cutting mechanism 1000, the cutting mechanism 1000 is movably connected to the vehicle body 500 to expand or retract relative to the vehicle body 500, and the cutting mechanism 1000 is also used to perform cutting actions.

[0156] Specifically, the control method of the robot 1 includes steps S801 to S802:

[0157] Step S801: obtaining the position of the cutting mechanism 1000;

[0158] Step S802: According to the position of the cutting mechanism 1000, the cutting mechanism 1000 and / or the moving assembly 600 are controlled to perform corresponding actions.

[0159] It should be noted that the control method of the robot 1 provided in this application can be applied to the robot 1 provided in any of the embodiments of this application or the robot 1 shown in Figures 13 to 17, but is not limited thereto. In order to clearly illustrate the control method of the robot 1, this specification will specifically describe the robot 1 provided in any of the embodiments of this application and the structure of the robot 1 shown in Figures 13 to 17:

[0160] As shown in FIG14 and FIG16 , in some embodiments, the robot 1 includes a reset member 303 disposed between the vehicle body 500 and the cutting mechanism 1000. The reset member 303 is used to provide a force to reset the cutting mechanism 1000 to the first area. Accordingly, in step S802, the moving assembly 600 is controlled to perform corresponding actions according to the position of the cutting mechanism 1000, including:

[0161] In the case where the cutting mechanism 1000 is in contact with the target object, the target travel direction is determined based on the position of the cutting mechanism 1000;

[0162] The control moving assembly 600 drives the vehicle body 500 to move along a target moving direction, wherein the target moving direction is a direction that can cause the cutting mechanism 1000 to retract to the second area under the pressure applied by the target object.

[0163] It should be noted that the target moving direction is a direction that enables the cutting mechanism 1000 to move to the second area under the pressure applied by the target object and the force provided by the resetting member 303.

[0164] As shown in FIG. 14 and FIG. 16 , in some embodiments, in step S802 , the cutting mechanism 1000 is controlled to perform corresponding actions according to the position of the cutting mechanism 1000 , including:

[0165] When the cutting mechanism 1000 is retracted toward the vehicle body 500 to the second position, the cutting speed of the cutting mechanism 1000 is controlled to decrease.

[0166] As shown in FIG14 and FIG16 , in some embodiments, the position of the cutting mechanism 1000 includes the extent of deployment of the cutting mechanism 1000 relative to the vehicle body 500 . Accordingly, in step S802 , the cutting mechanism 1000 is controlled to perform corresponding actions based on the position of the cutting mechanism 1000 , including:

[0167] When the extension range of the cutting mechanism 1000 relative to the vehicle body 500 is smaller than the preset range threshold, the mowing speed of the cutting mechanism 1000 is controlled to drop to zero.

[0168] In some embodiments, obtaining the position of the cutting mechanism 1000 in step S801 includes:

[0169] The position of the cutting mechanism 1000 is acquired through an angle sensor, wherein the angle sensor is used to detect the rotation angle of the cutting mechanism 1000 relative to the vehicle body 500 .

[0170] As shown in FIG17 , in some embodiments, the control method of the robot 1 provided in the present application further includes:

[0171] Obtaining a collision signal from a collision sensor, wherein the collision signal is used to indicate that the cutting mechanism 1000 has been retracted to an extreme position, where the extreme position is a position where the cutting mechanism 1000 contacts the vehicle body 500;

[0172] If the collision signal meets the preset conditions, the cutting speed of the cutting mechanism 1000 is controlled to drop to zero.

[0173] It should be noted that, in each embodiment of the control method of the robot 1 proposed above, the control method of the cutting mechanism 1000 is the same as the embodiment of the cutting mechanism 1000 described above, and will not be repeated here.

[0174] Please refer to Figure 19, which is a schematic block diagram of the structure of another robot 1 provided in an embodiment of the present application.

[0175] As shown in FIG19 , an embodiment of the present application further provides another robot 1 , which includes at least a processor 901 and a memory 902 . The processor 901 and the memory 902 are connected via a bus 703 , which may be an I2C (Inter-integrated Circuit) bus, for example.

[0176] Specifically, the processor 901 is used to provide computing and control capabilities to support the operation of the entire robot 1. The processor 901 can be a central processing unit (CPU), other general-purpose processors 901, digital signal processors 901 (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor 901 can be a microprocessor 901 or any conventional processor 901.

[0177] Specifically, the memory 902202 can be a Flash chip, a read-only memory 902 (ROM), a disk, an optical disk, a USB flash drive, or a mobile hard disk.

[0178] Those skilled in the art will understand that the structure shown in Figure 19 is merely a block diagram of a partial structure related to the embodiment of the present application, and does not constitute a limitation on the robot 1 to which the embodiment of the present application is applied. Specifically, the robot 1 may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0179] The processor 901 is configured to run a computer program stored in the memory 902 and implement any one of the control methods for the robot 1 provided in the embodiments of the present application when executing the computer program.

[0180] An embodiment of the present application also provides a computer storage medium for computer-readable storage, wherein the computer storage medium stores one or more programs, and the one or more programs can be executed by one or more processors 901 to implement the steps of any robot 1 control method provided in the embodiment of the present application specification.

[0181] The computer storage medium may be the internal storage unit of the robot 1 in the aforementioned embodiment, such as the hard disk or memory of the robot 1. The storage medium may also be an external storage device of the robot 1, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash memory card, etc., equipped on the robot 1.

[0182] In summary, the embodiments of the present application provide a robot 1, a control method for the robot 1, and a computer storage medium, wherein the robot 1 includes a body 500; a cutting mechanism 1000, which is movably connected to the body 500 to expand or retract relative to the body 500, and the cutting mechanism 1000 is also used to perform a cutting action; a moving assembly 600, which is used to drive the body 500 to move; a detection assembly 700, which is used to detect the position of the cutting mechanism 1000; and a controller 800, which is electrically connected to the detection assembly 700, the cutting mechanism 1000, and the moving assembly 600, and is used to: control the cutting mechanism 1000 and / or the moving assembly 600 to perform corresponding actions based on the position of the cutting mechanism 1000. The embodiments of the present application improve the effect of the robot 1 on cutting grass leaves at the edge of an obstacle 400 (such as a wall) by intelligently controlling the cutting action and driving action of the robot 1.

[0183] It should be understood that the module structure diagrams shown in the accompanying drawings are merely illustrative and do not necessarily include all connections between structures. In the description of this application, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0184] It should also be understood that the terminology used in this specification is for the purpose of describing specific embodiments only and is not intended to limit this application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms unless the context clearly indicates otherwise. Furthermore, in this specification and the appended claims, "a plurality" means at least two unless the context clearly indicates otherwise.

[0185] It will also be understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0186] It should also be understood that the term "and / or" used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, including these combinations. It should be noted that, in this article, the terms "include", "comprise" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system that includes a series of elements includes not only those elements, but also other elements that are not explicitly listed, or also includes elements that are inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "including a..." does not exclude the presence of other identical elements in the process, method, article or system that includes the element.

[0187] The serial numbers of the embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments. The above description is only a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application shall be based on the scope of protection of the claims.

Claims

1. A robot comprising: The robot body includes a body and a moving component, wherein the moving component is arranged on the body and is used to drive the body to move; a cutting mechanism comprising a connecting assembly and a cutting assembly, wherein the cutting assembly is connected to the vehicle body via the connecting assembly and is capable of switching between a first area and a second area relative to the vehicle body; Wherein, the second area is closer to the vehicle body than the first area, and when the cutting assembly is in the first area, the cutting assembly works; When the cutting assembly is in the second area, the cutting assembly stops working.

2. The robot according to claim 1, wherein: The area of the first region is greater than that of the second region, and when the cutting assembly moves from one position in the first region to the second region, the cutting speed of the cutting assembly decreases.

3. The robot according to claim 1 or 2, wherein: The connecting assembly includes a rotating portion and a mounting portion connected to the vehicle body. The cutting assembly is rotatably mounted on the mounting portion via the rotating portion and can be deflected between the first area and the second area.

4. The robot according to claim 3, wherein: The connecting assembly further includes a reset member, which is disposed between the rotating portion and the mounting portion and is used to drive the rotating portion to rotate toward the first area.

5. The robot according to claim 4, wherein: The reset member includes a torsion spring, one end of the torsion spring abuts against the rotating portion, and the other end of the torsion spring abuts against the mounting portion.

6. The robot according to claim 3, wherein: The robot further includes a detection component, which is disposed on at least one of the vehicle body and the connecting component and is configured to detect a deflection angle of the cutting component to control a cutting speed of the cutting component.

7. The robot according to claim 6, wherein: The detection component includes at least one of a mechanical sensor, an angle sensor, a travel switch and a Hall sensor electrically connected to the cutting component.

8. The robot according to claim 3, wherein: The mounting portion is provided with a first connecting end surface, the rotating portion is provided with a second connecting end surface, and a limiting member is connected between the first connecting end surface and the second connecting end surface for limiting the deflection angle of the rotating portion relative to the mounting portion.

9. The robot according to claim 8, wherein: The limiting member includes a limiting groove and a limiting column cooperating with the limiting groove, one of the limiting groove and the limiting column is arranged on the first connecting end surface, and the other of the limiting groove and the limiting column is arranged on the second connecting end surface.

10. The robot according to claim 3, wherein: The connecting assembly also includes a connecting arm, and the cutting assembly is mounted on the rotating part through the connecting arm. The connecting arm is rotatable relative to the rotating part, and the rotation axis of the connecting arm when rotating around the rotating part is perpendicular to the rotation axis of the rotating part when rotating around the mounting part.

11. The robot according to claim 1, wherein: The cutting assembly includes a driving motor, a cutting blade and a protective device. The driving motor is connected to the vehicle body through the connecting assembly. The protective device is arranged on the outside of the cutting blade to protect the cutting blade.

12. A robot, comprising: body; a cutting mechanism movably connected to the vehicle body to be expanded or retracted relative to the vehicle body, the cutting mechanism also being used to perform a cutting action; A moving component, used for driving the vehicle body to move; A detection component, used for detecting the position of the cutting mechanism; A controller is electrically connected to the detection component, the cutting mechanism, and the moving component, and is used to: According to the position of the cutting mechanism, the cutting mechanism and / or the moving component are controlled to perform corresponding actions.

13. The robot according to claim 12, wherein: The robot includes a reset member disposed between the vehicle body and the cutting mechanism, the reset member being used to provide a force for resetting the cutting mechanism to the first area; In which, when the cutting mechanism contacts the target object, the controller controls the moving component to drive the vehicle body to move along the target travel direction, so that the cutting mechanism moves to the second area under the pressure applied by the target object and the force provided by the reset member.

14. The robot according to claim 12 or 13, wherein: The cutting mechanism includes a connecting assembly and a cutting assembly for performing a cutting action, wherein the cutting assembly is movably connected to the vehicle body through the connecting assembly, and the cutting assembly is retracted toward the vehicle body when blocked by an external object; Wherein, when the cutting assembly is retracted toward the vehicle body to a second position, the controller controls the cutting speed of the cutting mechanism to decrease.

15. The robot according to claim 12 or 13, wherein: When the extension range of the cutting mechanism relative to the vehicle body is less than a preset range threshold, the controller controls the mowing speed of the cutting mechanism to drop to zero, wherein the extension range is determined by the positional relationship of the cutting mechanism relative to the vehicle body.

16. The robot according to claim 14, wherein: The connecting assembly includes mounting assemblies connected to the vehicle body and the cutting assembly respectively, and the cutting assembly is rotatably engaged with the vehicle body through the mounting assemblies so as to be expanded or retracted relative to the vehicle body; Wherein, the detection component is connected to at least one of the vehicle body, the mounting component and the cutting component to detect the rotation angle of the cutting component relative to the vehicle body, and the rotation angle is used to characterize the positional relationship between the cutting mechanism and the vehicle body.

17. The robot according to claim 16, wherein: The connecting assembly further includes a reset member connected between the vehicle body and the cutting assembly, and when the cutting assembly rotates relative to the vehicle body, the reset member undergoes torsional deformation: The detection assembly is further used to detect the torsion degree of the reset member to determine the rotation angle of the cutting assembly relative to the vehicle body.

18. The robot according to claim 14, wherein: The connecting assembly includes a telescopic assembly connected to the vehicle body and the cutting assembly, and the telescopic assembly is used to adjust the distance between the cutting assembly and the vehicle body; Wherein, the detection component is connected to at least one of the vehicle body, the telescopic component and the cutting component to detect the moving distance of the cutting component relative to the vehicle body, and the moving distance is used to characterize the positional relationship between the cutting mechanism and the vehicle body.

19. The robot according to claim 12 or 13, wherein: The detection component includes a collision sensor provided at a preset position of the vehicle body and electrically connected to the controller, wherein the preset position is a position on the vehicle body that contacts the cutting mechanism when the cutting mechanism is retracted to an extreme position; The collision sensor is configured to output a collision signal matching the collision intensity according to the collision intensity when colliding with the cutting mechanism, and the controller is configured to control the cutting speed of the cutting mechanism to drop to zero when the collision signal meets a preset condition.

20. A method for controlling a robot, the robot comprising a body and a cutting mechanism, the cutting mechanism being movably connected to the body to be expanded or retracted relative to the body, the cutting mechanism also being configured to perform a cutting action; The method comprises: obtaining the position of the cutting mechanism; According to the position of the cutting mechanism, the cutting mechanism and / or the moving component are controlled to perform corresponding actions.

21. The control method according to claim 20, wherein: The robot includes a reset member disposed between the vehicle body and the cutting mechanism, the reset member being used to provide a force for resetting the cutting mechanism to the first area; According to the position of the cutting mechanism, the moving assembly is controlled to perform corresponding actions, including: determining a target travel direction based on a position of the cutting mechanism when the cutting mechanism is in contact with the target object; The moving assembly is controlled to drive the vehicle body to move along the target moving direction, wherein the target moving direction is a direction that enables the cutting mechanism to move to the second area under the pressure applied by the target object.

22. The control method according to claim 20 or 21, wherein: According to the position of the cutting mechanism, the cutting mechanism is controlled to perform corresponding actions, including: When the cutting mechanism is retracted toward the vehicle body to a second position, the cutting speed of the cutting mechanism is controlled to decrease.

23. The control method according to claim 20 or 21, wherein: The position of the cutting mechanism includes the extent of deployment of the cutting mechanism relative to the vehicle body; According to the position of the cutting mechanism, the cutting mechanism is controlled to perform corresponding actions, including: When the extension range of the cutting mechanism relative to the vehicle body is smaller than a preset range threshold, the mowing speed of the cutting mechanism is controlled to drop to zero.

24. The control method according to claim 20 or 21, wherein: The obtaining of the position of the cutting mechanism comprises: The position of the cutting mechanism is acquired through an angle sensor, wherein the angle sensor is used to detect the rotation angle of the cutting mechanism relative to the vehicle body.

25. The control method according to claim 20 or 21, wherein: The method further comprises: Obtaining a collision signal from a collision sensor, wherein the collision signal is used to indicate that the cutting mechanism has been retracted to an extreme position, where the extreme position is a position where the cutting mechanism contacts the vehicle body; If the collision signal meets a preset condition, the cutting speed of the cutting mechanism is controlled to drop to zero.

26. A robot comprising at least a memory and a processor; The memory is used to store computer programs; The processor is configured to execute the computer program and, when executing the computer program, enable the robot to implement the control method according to any one of claims 20 to 25.

27. A computer storage medium, wherein the computer-readable storage medium stores a computer program, wherein when the computer program is executed by a processor, a robot equipped with the processor implements the control method according to any one of claims 20 to 25.

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