Composite sensing device and robotic lawn mower

Abstract

The present application belongs to the field of lawn mowing apparatuses. Particularly provided are a composite sensing device and a robotic lawn mower. The composite sensing device comprises a composite housing, a front sensing assembly and a side sensing assembly, wherein a first accommodating space and a second accommodating space are formed in the composite housing; the front sensing assembly is arranged inside the first accommodating space and is used for testing environmental information of the front; and the side sensing assembly is arranged inside the second accommodating space and is used for testing environmental information of a side. By means of the installation of the front sensing assembly and the side sensing assembly on the same composite housing, an integrated sensing module is formed, thereby improving the convenience of the assembly, disassembly and maintenance and matching universality of the sensing module and an external apparatus, effectively improving the assembly, disassembly and maintenance efficiency of the composite sensing device, and facilitating the structural compactness and miniaturization of the sensing module.

Description

Composite sensing device and lawn mowing robot

[0001] This application claims priority to Chinese Patent Application No. 202410709295.3, filed on May 31, 2024, entitled "Composite Sensing Device and Lawn-Mowing Robot", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application belongs to the field of lawn mowing equipment technology, and more specifically, relates to a composite sensing device and a lawn mowing robot. Background Technology

[0003] During operation, lawn mowing robots need to detect external environmental information in order to plan their walking paths effectively. Existing lawn mowing robots generally acquire images of environmental information through multiple sensors. However, these sensors are usually installed separately on the main body of the machine. The efficiency of assembling and disassembling the sensors from the main body is low, and the dispersed installation of these sensors is not conducive to the overall structural compactness of the lawn mowing robot. Technical issues

[0004] The purpose of this application is to provide a composite sensing device and a lawnmower robot to solve the technical problems of low efficiency in assembling and disassembling the sensing device and the main body of the machine in the prior art, which is not conducive to the compactness of the overall structure. Technical solutions

[0005] To achieve the above objectives, the technical solution adopted in this application is as follows:

[0006] On the one hand, a composite sensing device is provided, the composite sensing device comprising:

[0007] A composite housing, wherein the composite housing forms a first accommodating space and a second accommodating space;

[0008] A front-facing sensing component is disposed in the first accommodating space for detecting environmental information in front;

[0009] A side-mounted sensing component, disposed in the second accommodating space, is used to detect environmental information on the side.

[0010] In one embodiment, the composite housing includes a first housing, a second housing, and a third housing, wherein the first housing and the second housing form the first accommodating space, and the second housing and the third housing form the second accommodating space.

[0011] In one embodiment, the second housing has a first surface and a second surface disposed opposite to each other, the first surface forming the first receiving space with the first housing, and the second surface forming the second receiving space with the third housing.

[0012] In one embodiment, the third housing includes a receiving housing and a connecting housing. One end of the connecting housing is connected to the receiving housing, and the other end of the connecting housing is connected to the second surface. The side sensing assembly includes a side sensor and an electrical connection wire. The side sensor is disposed in the receiving housing, and the electrical connection wire passes through the connecting housing.

[0013] In one embodiment, the second housing is provided with a first opening, and the first accommodating space communicates with the second accommodating space through the first opening.

[0014] In one embodiment, a control circuit board is also provided in the first accommodating space. The side sensing component includes a side sensor and an electrical connection wire. One end of the electrical connection wire is electrically connected to the side sensor, and the other end of the electrical connection wire passes through the first opening and is electrically connected to the control circuit board.

[0015] In one embodiment, the sidewall of the first housing is provided with a first optical window and a first cleaning component, the first cleaning component being used to clean the first optical window, and / or the third housing is provided with a second optical window and a second cleaning component, the second cleaning component being used to clean the second optical window.

[0016] In one implementation, the front sensing component is located on the central axis of the composite sensing device, and the side sensing component is located on one side of the central axis.

[0017] In one implementation, the distance between the front sensing component and the front end of the composite housing is smaller than the distance between the side sensing component and the front end of the composite housing.

[0018] In one implementation, the front sensing component includes at least one of a monocular camera, a multi-camera system, a lidar, an ultrasonic sensor, and a millimeter-wave radar, and the side sensing component includes at least one of a lidar, a monocular camera, and a fisheye camera.

[0019] In one implementation, the detection space of the front sensing component overlaps with the detection space of the side sensing component.

[0020] In one implementation, the horizontal field of view of the front sensing component is smaller than that of the side sensing component.

[0021] In one implementation, the horizontal field of view of the front sensing component is 90 to 130 degrees; and / or, the horizontal field of view of the side sensing component is 110 to 150 degrees.

[0022] In one implementation, the vertical field of view of the front sensing component is smaller than that of the side sensing component.

[0023] In one implementation, the vertical field of view of the front sensing component is between 70 degrees and 100 degrees; and / or, the vertical field of view of the side sensing component is between 100 degrees and 150 degrees.

[0024] In one implementation, the horizontal field of view of the front sensing component is greater than the vertical field of view of the front sensing component.

[0025] And / or, the horizontal field of view of the side sensing component is greater than the vertical field of view of the side sensing component.

[0026] On the other hand, a lawn mowing robot is provided, the lawn mowing robot comprising:

[0027] The main body of the machine is movable on the working surface;

[0028] A sensing device is installed on the main body of the machine, and the sensing device adopts the above-mentioned composite sensing device.

[0029] In one implementation, the front sensing component is mounted at a greater height on the machine body than the side sensing component is mounted on the machine body.

[0030] In one implementation, the installation height difference between the front sensing component and the side sensing component is greater than 50mm.

[0031] In one embodiment, the detection direction of the front sensing component is tilted downward, and the detection direction has a first angle with the working surface; the detection direction of the side sensing component is tilted downward, and the detection direction has a second angle with the working surface; wherein the first angle is smaller than the second angle.

[0032] In one implementation, the detection space of the front sensing component has at least a first intersection line with the working surface, and the distance between the first intersection line and the front end of the machine body is between 0mm and 180mm.

[0033] In one embodiment, the detection space of the side sensing component has at least a second intersection line with the working surface, and the distance between the second intersection line and the outer edge surface of the side of the machine body is between -20mm and 20mm.

[0034] In one embodiment, the machine body includes a main frame, a moving mechanism, and an upper shell. The moving mechanism is located at the bottom of the main frame, the upper shell is floatingly connected to the main frame, and the composite sensing device is installed on the upper shell.

[0035] In one embodiment, a first mounting hole is provided at the front end of the upper shell, and a second mounting hole is provided on at least one side of the upper shell. The front sensing component is embedded in the first mounting hole, and the side sensing component is embedded in the second mounting hole.

[0036] In one embodiment, when the second mounting holes are provided on both sides of the upper shell, the second mounting holes are symmetrically arranged on both sides of the upper shell. Beneficial effects

[0037] The beneficial effects of the composite sensing device and lawnmower robot provided in this application are as follows:

[0038] Firstly, by mounting the front sensing component and the side sensing component on the same composite housing, and utilizing the front and side sensing components to detect the front and sides, the composite sensing device forms an independent sensing module capable of simultaneously detecting multiple different directions. This allows the composite sensing device to independently meet the positioning and movement planning needs of external devices. This integrated sensing module design improves the convenience and compatibility of disassembly and maintenance of the sensing module with external devices, increasing the efficiency of disassembly and maintenance of the composite sensing device. Furthermore, it facilitates the compactness and miniaturization of the sensing module's structure. Additionally, by installing the front sensing component in the first accommodating space and the side sensing component in the second accommodating space, collisions between the front and side sensing components and the external environment can be effectively avoided, thereby improving the safety of the front and side sensing components and extending their service life.

[0039] Secondly, by installing the sensing device on the main body of the machine, it is possible to achieve effective positioning and walking planning of the main body of the machine, and also to improve the ease of disassembly and assembly of the main body of the machine and the sensing device, thereby improving the overall assembly and maintenance efficiency of the lawnmower robot. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 is a perspective view of the composite sensing device provided in an embodiment of this application;

[0042] Figure 2 is a perspective view of the composite sensing device provided in the embodiment of this application (first housing not shown).

[0043] Figure 3 is a perspective view of the second housing provided in an embodiment of this application;

[0044] Figure 4 is a schematic diagram of the assembly of the third housing, the side sensing component, and the second cleaning component provided in the embodiment of this application;

[0045] Figure 5 is a magnified view of a portion of position A shown in Figure 1;

[0046] Figure 6 is a three-dimensional schematic diagram of the lawnmower robot provided in the embodiment of this application;

[0047] Figure 7 is a top view of the lawnmower robot provided in an embodiment of this application;

[0048] Figure 8 is a side view of the lawnmower robot provided in an embodiment of this application;

[0049] Figure 9 is a two-dimensional schematic diagram of the lawnmower robot provided in the embodiment of this application;

[0050] Figure 10 is a perspective view of the upper shell provided in an embodiment of this application;

[0051] Figure 11 is a schematic diagram of the installation parameters of the front sensing component provided in an embodiment of this application;

[0052] Figure 12 is a schematic diagram of the overall installation parameters of the side sensing component and the front sensing component provided in the embodiment of this application;

[0053] Figure 13 is a schematic diagram of the installation parameters of the front sensing component provided in the embodiment of this application;

[0054] Figure 14 is a schematic diagram of the installation parameters of the side sensing component provided in the embodiment of this application;

[0055] Figure 15 is a side view of the composite sensing device provided in an embodiment of this application;

[0056] Figure 16 is a cross-sectional view along the BB direction shown in Figure 15;

[0057] Figure 17 is a three-dimensional schematic diagram of a portion of the composite shell structure provided in an embodiment of this application.

[0058] The following are the labeling elements in the figure:

[0059] 100. Composite sensing device;

[0060] 1. Composite housing; 11. First housing; 111. Front sidewall; 112. Cleaning bracket; 113. Top plate; 114. First detection port; 12. Second housing; 121. First surface; 122. Second surface; 123. First opening; 124. Groove; 13. Third housing; 131. Receiving housing; 132. Connecting housing; 133. Housing base; 134. Second detection port; 14. First receiving space; 15. Second receiving space;

[0061] 2. Front sensing assembly; 21. Front sensor; 211. First camera; 212. Second camera; 22. Sensing bracket; 23. Fill light;

[0062] 3. Side sensing assembly; 31. Side sensor;

[0063] 4. Control circuit board;

[0064] 5. First optical window;

[0065] 6. First cleaning component; 61. First swing component; 62. First scraping component;

[0066] 7. Second optical window;

[0067] 8. Second cleaning component; 81. Second swing component; 82. Second scraping component;

[0068] 200. Machine body; 201. Main frame; 202. Moving mechanism; 203. Upper shell; 2031. First mounting hole; 2032. Second mounting hole; 204. Cutting mechanism;

[0069] 300, working surface; 400, intersection. Embodiments of the present invention

[0070] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0071] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0072] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0073] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0074] This application provides a composite sensing device 100, as shown in Figures 1, 6, 15 and 16. The composite sensing device 100 includes a composite housing 1, a front sensing component 2 and a side sensing component 3. The composite housing 1 forms a first receiving space 14 and a second receiving space 15. The front sensing component 2 is disposed in the first receiving space 14 and is used to detect environmental information in front. The side sensing component 3 is disposed in the second receiving space 15 and is used to detect environmental information to the side.

[0075] Specifically, by mounting the front sensing component 2 and the side sensing component 3 on the same composite housing 1, and using the front sensing component 2 and the side sensing component 3 to detect the front and sides, the composite sensing device 100 forms an independent sensing module capable of simultaneously detecting multiple different directions. This allows the composite sensing device 100 to independently meet the positioning and movement planning needs of external devices. This integrated sensing module design improves the convenience and compatibility of disassembly and maintenance of the sensing module and external devices, increasing the efficiency of disassembly and maintenance of the composite sensing device 100. Furthermore, it facilitates the compactness and miniaturization of the sensing module's structure. Moreover, by installing the front sensing component 2 in the first accommodating space 14 and the side sensing component 3 in the second accommodating space 15, collisions between the front sensing component 2 and the side sensing component 3 and the external environment can be effectively avoided, thereby improving the safety of the front sensing component 2 and the side sensing component 3 and extending their service life.

[0076] In some embodiments, the front sensing component is mainly responsible for detecting environmental information directly in front of the external device and using the detected environmental information for mapping, localization, and obstacle avoidance; the side sensing component is mainly responsible for detecting environmental information to the side of the external device and using the detected environmental information to identify the boundaries of the area.

[0077] In one embodiment, the composite housing 1 includes a front portion and a rear portion disposed opposite to each other, and a left portion, a right portion, an upper portion, and a lower portion disposed adjacent to the front portion. The front sensing component 2 and the side sensing component 3 may be disposed together in the front portion; or, the front sensing component 2 may be disposed in the front portion and the side sensing component 3 may be disposed in the rear portion; or, the front sensing component 2 may be disposed in the front portion and the side sensing components 3 may be disposed in the left and right portions respectively; or, the front sensing component 2 may be disposed in the front portion and the side sensing components 3 may be disposed in the upper or lower portion.

[0078] As one embodiment, as shown in Figures 1 and 16, the composite housing 1 includes a first housing 11, a second housing 12, and a third housing 13. The first housing 11 and the second housing 12 form a first receiving space 14, and the second housing 12 and the third housing 13 form a second receiving space 15. The first receiving space 14 and the second receiving space 15 are disposed on both sides of the second housing 12, or the first receiving space 14 and the second receiving space 15 are disposed on one side of the second housing 12.

[0079] Specifically, the first housing 11, the second housing 12 and the third housing 13 are used to enclose and form a first accommodating space 14 and a second accommodating space 15, and the front sensing component 2 and the side sensing component 3 are respectively arranged in the first accommodating space 14 and the second accommodating space 15. This facilitates the modular assembly of the composite sensing device 100, thereby improving the convenience of disassembly and maintenance of the composite sensing device 100 and improving the assembly efficiency of the composite sensing device 100.

[0080] In one embodiment, as shown in FIG1, the first housing 11 is disposed on top of the second housing 12, and the third housing 13 is disposed on the bottom of the second housing 12. Of course, in other embodiments, it can also be designed that both the first housing and the third housing are disposed on top of or at the bottom of the second housing.

[0081] In some embodiments, when there are two side sensing components 3, there are two third housings 13, and the two third housings 13 are symmetrically arranged on the second housing 12, with each third housing 13 having a side sensing component 3 installed.

[0082] In one embodiment, as shown in Figures 1 to 3 and Figure 17, the second housing 12 has a first surface 121 and a second surface 122 disposed opposite to each other. The first surface 121 and the first housing 11 form a first receiving space 14, and the second surface 122 and the third housing 13 form a second receiving space 15.

[0083] Specifically, the second housing 12 isolates the first accommodating space 14 from the second accommodating space 15, which not only effectively isolates the first accommodating space 14 from the second accommodating space 15, but also allows the first accommodating space 14 from the second accommodating space 15 to be as close as possible, thereby helping to improve the compactness of the composite sensing device 100.

[0084] In one embodiment, as shown in Figures 1, 4, and 16, the third housing 13 includes a receiving housing 131 and a connecting housing 132. One end of the connecting housing 132 is connected to the receiving housing 131, and the other end of the connecting housing 132 is connected to the second surface 122. The side sensing component 3 includes a side sensor 31 and an electrical connection wire. The side sensor 31 is disposed in the receiving housing 131, and the electrical connection wire passes through the connecting housing 132.

[0085] Specifically, the electrical connection wire connected to the side sensor 31 passes through the connecting shell 132 and connects to the first receiving space 14, so that the side sensor 31 and the electrical connection wire are completely hidden in the third shell 13, thereby making the structure of the third shell 13 both neat and beautiful, as well as safe and reliable.

[0086] In one embodiment, as shown in FIG2, a control circuit board 4 is also provided in the first accommodating space 14. One end of the electrical connection wire is electrically connected to the side sensor 31, and the other end of the electrical connection wire passes through the first opening 123 and is electrically connected to the control circuit board 4.

[0087] Specifically, by setting up the control circuit board 4, the front sensing component 2 and the side sensing component 3 can be detected and controlled, so that the composite sensing device 100 forms a sensing module with independent computing capabilities, so that the composite sensing device 100 can be quickly matched with different devices for use, thereby improving the versatility of the composite sensing device 100.

[0088] In one embodiment, the control circuit board 4 is installed in the first receiving space 14, and the control circuit board 4 is located below the front sensing component 2. This design makes the control circuit board 4 located between the front sensing component 2 and the side sensing component 3, thereby making the distance between the control circuit board 4 and the front sensing component 2 and the side sensing component 3 smaller, which helps to simplify the connection wiring between the control circuit board 4 and the front sensing component 2 and the side sensing component 3.

[0089] In one embodiment, a wireless transmission module is provided on the control circuit board 4, and the control circuit board 4 communicates with an external controller through the wireless transmission module. Of course, in other embodiments, it can also be designed such that any one of the first housing 11, the second housing 12, and the third housing 13 has an external connection hole, and the control circuit board 4 is connected to a signal connection line, which passes through the external connection hole to communicate with the external controller. In one embodiment, as shown in Figures 1, 4, and 17, the third housing 13 further includes a housing base 133, which is located at the end of the connecting housing 132 away from the receiving housing 131. The bottom of the second housing 12 has a groove 124, and the housing base 133 is embedded in the groove 124, so that the connecting housing 132 is fixedly installed on the second surface 122 of the second housing 12.

[0090] In one embodiment, as shown in Figures 2 and 3, the second housing 12 is provided with a first opening 123, and the first receiving space 14 is connected to the second receiving space 15 through the first opening 123, so that the electrical connection line connected to the side sensor 31 can pass through the first opening 123 and be connected to the control circuit board 4.

[0091] Specifically, this design allows the device and related wiring to be located entirely inside the first housing space 14 and the second housing space 15, and the electrical connection wires do not need to extend outside the first housing 11, the second housing 12 and the third housing 13, thus avoiding wiring exposure, improving wiring safety, and improving the reliability of the composite sensing device 100.

[0092] In one embodiment, as shown in FIG2, the front sensing assembly 2 includes a front sensor 21 and a sensing bracket 22. One end of the sensing bracket 22 is fixed to the second housing 12, and the front sensor 21 is disposed at the end of the sensing bracket 22 away from the second housing 12. Specifically, in some embodiments, the first housing 11 is made of plastic and the second housing 12 is made of metal. Therefore, by setting the sensing bracket 22, the front sensor 21 can be connected to the second housing 12, so that the heat of the front sensor 21 during operation can be directly transferred to the second housing 12, effectively improving the heat dissipation efficiency, thereby improving the working reliability and service life of the composite sensing device 100.

[0093] In one embodiment, as shown in Figures 1, 2, and 17, the first housing 11 includes a front sidewall 111 located at the front of the first housing 11. The front sidewall 111 has a first detection port 114, into which a front sensor 21 is embedded. A sensing bracket 22 is disposed on one end of the first surface 121 of the second housing 12 near the front sidewall 111, and is spaced apart from the front sidewall 111. In some embodiments, the sensing bracket 22 is vertically arranged, and the front sensor 21 is disposed on the side of the sensing bracket 22 near the front sidewall 111.

[0094] In one embodiment, as shown in FIG2, the front sensor 21 includes a first camera 211 and a second camera 212, which are horizontally spaced apart at both ends of the sensor bracket 22. Specifically, the first camera 211 and the second camera 212 form a binocular camera, which can be used for the positioning of external devices and obstacle recognition, thereby improving the walking reliability of external devices.

[0095] In one embodiment, as shown in FIG2, the front sensing component further includes a fill light 23, which is used to illuminate the binocular camera to improve the imaging quality of the binocular camera. The fill light 23 is disposed on the sensing bracket 22 and located between the first camera 211 and the second camera 212.

[0096] In one embodiment, as shown in Figures 1 and 5, the composite sensing device 100 further includes a first optical window 5 and a first cleaning component 6. The first optical window 5 and the first cleaning component 6 are disposed on the side wall of the first housing 11. The first optical window 5 covers the first detection port 114. One end of the first cleaning component 6 is located within the first receiving space 14 and disposed in the first housing 11, while the other end of the first cleaning component 6 extends to the outside of the first housing 11. The first cleaning component 6 is capable of cleaning the first optical window 5. By setting the first optical window 5 and cleaning it with the first cleaning component 6, on the one hand, the first optical window 5 can reliably protect the front sensor 21, preventing it from being damaged by collisions with the external environment, thereby helping to improve the service life of the front sensing component 2. On the other hand, it can improve the cleanliness of the first optical window 5, avoiding the influence of non-realistic environmental information on the detection results, thereby helping to improve the detection reliability of the front sensing component 2.

[0097] In one embodiment, as shown in Figures 1, 2, and 5, there are two first cleaning components 6, located on either side of the front sensor 21. One first cleaning component 6 cleans the position of the first optical window 5 corresponding to the first camera 211, and the other first cleaning component 6 cleans the position of the first optical window 5 corresponding to the second camera 212. Specifically, by setting two first cleaning components 6, each first cleaning component 6 corresponds one-to-one with the two cameras, thereby effectively improving the cleaning effect of the first optical window 5 and ensuring the detection reliability of the binocular camera. In some embodiments, the two first cleaning components 6 are located on the left and right sides of the front sensor 21, respectively, and are symmetrically arranged.

[0098] As shown in Figures 1, 4, and 17, the composite sensing device 100 further includes a second optical window 7 and a second cleaning component 8. The second optical window 7 and the second cleaning component 8 are disposed on the third housing 13. A second detection port 134 is provided on the housing 131, and the second optical window 7 covers the second detection port 134. One end of the second cleaning component 8 is located within the second receiving space 15 and disposed on the third housing 13, while the other end extends outside the third housing 13. The second cleaning component 8 can clean the second optical window 7. By providing the second optical window 7 and cleaning it with the second cleaning component 8, on the one hand, the second optical window 7 can reliably protect the side sensor 31, preventing it from being damaged by collisions with the external environment, thus helping to improve the service life of the side sensor 31. On the other hand, it can improve the cleanliness of the second optical window 7, avoiding the influence of non-realistic environmental information on the detection results, thereby helping to improve the detection reliability of the side sensing component.

[0099] Specifically, by setting a first cleaning component 6 to clean the first optical window 5 and a second cleaning component 8 to clean the second optical window 7, on the one hand, the first optical window 5 and the second optical window 7 can reliably protect the front sensing component 2 and the side sensing component 3, preventing them from being damaged by collisions with the external environment, thereby helping to improve the service life of the front sensing component 2 and the side sensing component 3. On the other hand, it can improve the cleanliness of the first optical window 5 and the second optical window 7, avoiding the influence of non-realistic environmental information on the detection results, thereby helping to improve the detection reliability of the front sensing component 2 and the side sensing component 3.

[0100] In one embodiment, as shown in Figures 1, 4, 5 and 6, the first optical window 5 is disposed on the front side of the first housing 11, and the second optical window 7 is disposed on the side side of the third housing 13.

[0101] In one embodiment, as shown in FIG2, the first housing 11 further includes a cleaning bracket 112, which is located within the first receiving space 14 and disposed on the front sidewall 111. The first cleaning component 6 is mounted on the cleaning bracket 112. Specifically, by providing a cleaning bracket 112 fixedly connected to the front sidewall 111 and mounting the first cleaning component 6 on the cleaning bracket 112, the heat from the first cleaning component 6 during operation is directly transferred to the first housing 11, thereby forming a heat diversion with the heat from the front sensor 21 transferred to the second housing 12. This makes the heat more dispersed, which is beneficial to improving heat dissipation efficiency and greatly reducing the risk of overheating of the front sensing component and the first cleaning component. This helps to improve the working reliability and service life of the front sensing component and the first cleaning component.

[0102] In one embodiment, as shown in Figures 1 and 2, the first housing 11 further includes a top plate 113, and the upper end of the cleaning bracket 112 is connected to the top plate 113. In some embodiments, the cleaning bracket 112 is integrally formed with the front sidewall 111 and the top plate 113, or the cleaning bracket 112 is bolted to the front sidewall 111 and the top plate 113. Specifically, by connecting the cleaning bracket 112 to the top plate 113, the heat generated during the operation of the first cleaning component can be directly transferred to the top plate 113 through the cleaning bracket 112, which helps to reduce the heat transferred to the front sidewall 111, thereby more effectively dispersing heat and avoiding heat concentration, thus improving the operational reliability and service life of the composite sensing device.

[0103] In one embodiment, as shown in Figures 1 and 5, the first cleaning component 6 includes a first swing member 61 and a first scraper 62. The first swing member 61 is mounted on the first housing 11, and the first scraper 62 is disposed on the first swing member 61. The first scraper 62 abuts against the first optical window 5, and the first swing member 61 can drive the first scraper 62 to swing, thereby cleaning the first optical window 5. In some embodiments, the sweeping range of the first scraper 62 is larger than the sensing range of the front sensing component 2 on the first optical window 5. Further, one end of the first swing member 61 is disposed on the cleaning bracket 112, and the other end of the first swing member penetrates through the front sidewall 111 and extends beyond the first receiving space 14. The first scraper is disposed at the end of the first swing member outside the first receiving space 14.

[0104] In one embodiment, as shown in Figures 1 and 4, the second cleaning component 8 includes a second swing member 81 and a second scraper 82. The second swing member 81 is mounted on the third housing 13, and the second scraper 82 is disposed on the second swing member 81. The second scraper 82 abuts against the second optical window 7, and the second swing member 81 can drive the second scraper 82 to swing, thereby cleaning the second optical window 7. In some embodiments, the sweeping range of the second scraper 82 is greater than the sensing range of the side sensing component 3 on the second optical window 7.

[0105] In one embodiment, as shown in FIG7, the front sensing component 2 is located on the central axis of the composite sensing device 100, and the side sensing component 3 is located on one side of the central axis.

[0106] Specifically, by placing the front sensing component 2 on the central axis, since the composite sensing device 100 is symmetrical about the central axis, the calculation of coordinate transformation is more direct, which helps to reduce the computational load of the control circuit board 4, thereby helping to improve the detection efficiency of the composite sensing device 100.

[0107] In one embodiment, as shown in FIG7, the distance between the front sensing component 2 and the front end of the composite housing 1 is less than the distance between the side sensing component 3 and the front end of the composite housing 1. Because the front sensing component 2 is closer to the front end of the composite housing 1, obstruction is reduced, allowing it to more directly and sensitively capture and sense various environmental information in front of the composite housing 1. The side sensing component 3, being farther from the front end of the composite housing 1, avoids excessive overlap or interference with the sensing range of the front sensing component 2. Furthermore, when the front end of the composite housing 1 is impacted, the side sensing component 3 is less likely to experience direct impact force, reducing the risk of damage or performance degradation due to the collision.

[0108] In one embodiment, the front sensing component 2 includes at least one of a monocular camera, a multi-camera, a lidar, an ultrasonic sensor, and a millimeter-wave radar, and the side sensing component 3 includes at least one of a lidar, a monocular camera, and a fisheye camera.

[0109] In one embodiment, the front sensing component 2 further includes an inertial sensor. The binocular camera includes a first camera 211 and a second camera 212, and the inertial sensor is located at the midpoint of the line connecting the first camera 211 and the second camera 212. Specifically, on the one hand, by setting the inertial sensor, the angle change of the binocular camera can be sensed in real time, thereby enabling real-time determination of the binocular camera's attitude, which helps improve the measurement accuracy and reliability of the binocular camera, and thus facilitates more accurate positioning and navigation. On the other hand, setting the inertial sensor at the midpoint of the line connecting the first camera 211 and the second camera 212 ensures that the coordinate center of the mapping is located at the center of the binocular camera, which helps simplify the algorithm, reduce the amount of computation, thereby improving computational efficiency and reducing the computational burden of the system.

[0110] In one embodiment, as shown in FIG7, the detection space of the front sensing component 2 and the detection space of the side sensing component 3 have an intersection 400.

[0111] Specifically, by allowing the detection space of the front sensing component 2 and the detection space of the side sensing component 3 to intersect by 400, the front and sides of the external device can be continuously detected. On the one hand, this avoids blind spots in the intersection area of ​​the front and sides of the external device, thereby improving the detection reliability of the environmental information in front of and to the sides of the external device. On the other hand, it allows the environmental information in front of the external device to be stitched together with the environmental information on the side, thereby enabling the external device to be located using the stitched image and achieving high-precision position recognition of the external device.

[0112] In one embodiment, the horizontal field of view of the front sensing component 2 is smaller than that of the side sensing component 3.

[0113] Specifically, on the one hand, the front sensing component 2 has a relatively small horizontal field of view, which avoids excessive distortion of the image acquired by the front sensing component 2 due to an excessively large field of view, thus preventing image distortion. This allows the composite sensing device 100 to more accurately identify the detailed features of obstacles, such as the shape, size, and color of the obstacles. This information helps external devices better determine how to avoid obstacles, ensuring the reliability of detection and improving the accuracy and stability of obstacle avoidance. On the other hand, the side sensing component 3 is mainly used for auxiliary positioning and boundary recognition, and has lower requirements for the specific feature recognition of obstacles. Therefore, the side sensing component 3 has a relatively large horizontal field of view, which enables the side sensing component 3 to have a wider detection range in the horizontal direction. This allows the side sensing component 3 to cover more areas on the sides of the machine body 200, helping to reduce the detection blind spots on the sides of the machine body 200.

[0114] In one embodiment, the horizontal field of view of the front sensing component 2 is 90 to 130 degrees. In some embodiments, as shown in FIG11, since the width of the machine body 200 is 175mm to 375mm, the forward speed of the machine body 200 is 0.35m / s, and the braking time of the machine body 200 is 0.5s, ignoring acceleration, in order to avoid the machine body 200 colliding with detected obstacles, the safe braking distance is not less than 175mm. That is, the front sensing component 2 needs to detect obstacles more than 175mm in front of the machine body 200. Therefore, the detection space of the front sensing component 2 at a position 175mm in front of the machine body 200 needs to cover the width of the machine body 200 so that obstacles in the forward path of the machine body 200 are fully detected. Under this design requirement, the horizontal field of view of the front sensing component 2 is approximately 90 to 130 degrees.

[0115] In one embodiment, the horizontal field of view of the side sensing component 3 is 110 to 150 degrees. In some embodiments, as shown in FIG12, since the horizontal field of view of the front sensing component 2 is set to 90 to 130 degrees, the distance between the side sensing component 3 and the front sensing component 2 in the forward direction is 94 mm, and the distance between the side sensing component 3 and the outer edge surface is 4 mm. In addition, the detection direction of the side sensing component 3 is tilted towards the forward direction. Based on the above design, the horizontal field of view of the side sensing component 3 needs to be set to 110 to 150 degrees so that there is enough overlap in the detection space of the front sensing component 2 and the side sensing component 3 for calibration and repositioning.

[0116] In one embodiment, the vertical field of view of the front sensing component 2 is smaller than that of the side sensing component 3.

[0117] Specifically, on the one hand, the vertical field of view of the front sensing component 2 is relatively small, which can avoid excessive distortion of the image acquired by the front sensing component 2 due to an excessively large field of view, thus preventing image distortion. This allows the composite sensing device 100 to more accurately identify the detailed features of obstacles, such as the shape, size, and color of the obstacles. This information can help the external device better determine how to avoid obstacles, ensuring the reliability of detection and improving the accuracy and stability of obstacle avoidance. On the other hand, the vertical field of view of the side sensing component 3 is relatively large, which enables the side sensing component 3 to have a wider detection range in the vertical direction. This reduces the probability that the side sensing component 3 will be unable to acquire environmental information due to obstruction by tall grass or other objects, and allows the side sensing component 3 to better detect areas close to the side of the external device. This helps to reduce the blind spots of the external device's side detection and reduces the structural design difficulty of the installation layout of the side sensing component 3 on the external device.

[0118] In one embodiment, the vertical field of view of the front sensing component 2 is between 70 and 100 degrees. In some embodiments, as shown in FIG13, since the installation height of the front sensing component 2 is 234mm, the first angle between the detection direction of the front sensing component 2 and the working surface 300 is 27 degrees, and the distance from the first intersection line of the detection space of the front sensing component 2 and the working surface 300 to the outer edge surface of the side of the machine body 200 is 76mm, accordingly, the vertical field of view of the front sensing component 2 needs to be set to about 90 degrees.

[0119] In one embodiment, the vertical field of view of the side sensing component 3 is between 100 and 150 degrees. In some embodiments, as shown in FIG14, since the installation height of the side sensing component 3 is 153mm, the second angle between the detection direction of the side sensing component 3 and the working surface 300 is set to 27 degrees, and the distance between the detection space of the side sensing component 3 and the second intersection line of the working surface 300 and the outer edge surface of the side of the machine body 200 is 4mm, accordingly, the vertical field of view of the side sensing component 3 needs to be set to about 123 degrees.

[0120] In one embodiment, the horizontal field of view of the front sensing component 2 is greater than the vertical field of view of the front sensing component 2; the horizontal field of view of the side sensing component 3 is greater than the vertical field of view of the side sensing component 3.

[0121] Specifically, a horizontal field of view that is greater than a vertical field of view helps to expand the field of view of the composite sensing device 100, improve the accuracy of its obstacle recognition, positioning and navigation, thereby improving the operating efficiency and safety of external equipment.

[0122] This application embodiment also provides a lawn mowing robot, as shown in FIG8. The lawn mowing robot includes a machine body 200 and a sensing device. The machine body 200 is movable on the working surface 300. The sensing device is installed on the machine body 200 and adopts the above-mentioned composite sensing device 100.

[0123] Specifically, by setting up a sensor on the main body 200, the main body 200 can be effectively positioned and its movement can be planned. This also improves the ease of assembling and disassembling the main body 200 and the sensor, thereby increasing the overall assembly and maintenance efficiency of the lawnmower robot.

[0124] In one embodiment, the mounting height of the front sensing component 2 on the machine body 200 is greater than the mounting height of the side sensing component 3 on the machine body 200.

[0125] Specifically, by setting the front sensing component 2 and the side sensing component 3 at different heights, with the front sensing component 2 being installed at a relatively higher height, on the one hand, the different heights of the front sensing component 2 and the side sensing component 3 can provide the main body 200 with more comprehensive environmental information, which helps to more accurately identify and understand the usage scenario; on the other hand, the relatively higher installation position of the front sensing component 2 allows it to have a wider detection range in front of the main body 200, so as to obtain more environmental information in front of the main body 200, thereby helping to improve the positioning and obstacle avoidance reliability of the lawnmower robot.

[0126] In one embodiment, the difference in installation height between the front sensing component 2 and the side sensing component 3 is greater than 50 mm.

[0127] In one embodiment, the height of the front sensing component 2 at the mounting position on the machine body 200 is 200mm to 250mm. In some embodiments, as shown in FIG13, since the vertical field of view of the front sensing component 2 is set to 90 degrees, the first angle between the detection direction of the front sensing component 2 and the working surface 300 is set to 27 degrees, and the distance between the detection space of the front sensing component 2 and the first intersection line of the working surface 300 and the outer edge surface of the side of the machine body 200 is 76mm, accordingly, the mounting height of the front sensing component 2 needs to be set to about 234mm.

[0128] In one embodiment, the height of the side sensor component 3 at its mounting position on the machine body 200 is 120mm to 200mm. Specifically, by mounting the side sensor component 3 at a height of 120mm or more, the risk of the side sensor component 3 being obstructed by tall grass can be reduced, thereby improving the operational reliability of the side sensor component 3. In some embodiments, as shown in FIG14, since the vertical field of view of the side sensor component 3 is set to 123 degrees, the second angle between the detection direction of the side sensor component 3 and the working surface 300 is set to 27 degrees, and the distance between the second intersection line of the detection space of the side sensor component 3 and the working surface 300 and the outer edge surface of the side of the machine body 200 is 4mm, the mounting height of the side sensor component 3 needs to be set to approximately 153mm.

[0129] In one embodiment, the detection direction of the front sensing component 2 is tilted downward, and there is a first angle between the detection direction and the working surface 300. The detection direction of the side sensing component 3 is tilted downward, and there is a second angle between the detection direction and the working surface 300. The first angle is smaller than the second angle.

[0130] Specifically, firstly, by tilting the front sensing component 2 downwards, the detection space of the front sensing component 2 is tilted downwards as a whole. This helps the front sensing component 2 to detect areas closer to the front of the machine body 200 while maintaining its installation height, thus reducing blind spots in front of the machine body 200 during operation. Secondly, by tilting the side sensing component 3 downwards, the detection space of the side sensing component 3 is tilted downwards as a whole. This helps the side sensing component 3 to detect areas closer to the front of the machine body 200 while maintaining its installation height. The sensing component 3 can detect areas closer to the side of the machine body 200, thereby helping to reduce blind spots on the side of the machine body 200 during operation. Finally, the second included angle is greater than the first included angle. On the one hand, it enables the front sensing component 2 to detect environmental information relatively further in front of the machine body 200, which helps the lawnmower robot to detect obstacles earlier and avoid them. On the other hand, it makes it easier for the side sensing component 3 to detect areas closer to the side of the machine body 200, thereby helping to reduce blind spots on the side of the machine body 200 during operation.

[0131] Specifically, the direction of the detection center line of the front sensing component 2 is the detection direction of the front sensing component 2, and the direction of the detection center line of the side sensing component 3 is the detection direction of the side sensing component 3.

[0132] In one embodiment, the detection space of the front sensing component 2 and the working surface 300 have at least a first intersection line, and the distance between the first intersection line and the front end of the machine body 200 is between 0 mm and 180 mm. In some embodiments, as shown in FIG8, the forward speed of the machine body 200 is 0.35 m / s, and the braking time of the machine body 200 is 0.5 s. Ignoring acceleration, in order to avoid the machine body 200 colliding with the detected obstacles, the safe braking distance is not less than 175 mm. That is, the front sensing component 2 needs to detect obstacles more than 175 mm in front of the machine body 200. Therefore, the first intersection line between the detection space of the front sensing component 2 and the working surface 300 is set to less than 180 mm, so that obstacles more than 180 mm in the forward path of the machine body 200 can be detected, so as to stop the machine body 200 in time or change the movement state of the machine body 200.

[0133] In one embodiment, the detection space of the side sensing component 3 and the working surface 300 have at least a second intersection line, and the distance between the second intersection line and the outer edge surface of the side of the machine body 200 is between -20mm and 20mm.

[0134] In one embodiment, as shown in FIG9, the machine body 200 includes a main frame 201, a moving mechanism 202 and an upper shell 203. The moving mechanism 202 is disposed at the bottom of the main frame 201, the upper shell 203 is floatingly connected to the main frame 201, and the composite sensing device 100 is mounted on the upper shell 203.

[0135] Specifically, by setting an upper shell 203 that is floatingly connected to the main frame 201 and placing the composite sensor 100 on the upper shell 203, when the lawnmower robot collides, the upper shell 203 and the composite sensor 100 can move relative to the main frame 201, thereby achieving collision buffering and avoiding damage to the composite sensor 100 due to excessive impact force, which helps to improve the service life of the composite sensor 100.

[0136] In some embodiments, as shown in FIG9, the machine body 200 further includes a cutting mechanism 204, which is disposed at the bottom of the main frame 201 and is offset from the moving mechanism 202 in a direction parallel to the working surface 300.

[0137] In some embodiments, as shown in FIG9, the cutting mechanism 204 is disposed in the central region of the bottom of the machine body 200. When the distance between the second intersection line and the outer edge surface of the side of the machine body 200 is negative, it means that the second intersection line is located between the outer edge surface and the cutting mechanism 204. This design makes the distance between the second intersection line and the cutting mechanism 204 smaller, which in turn helps the cutting mechanism 204 to be as close as possible to the working boundary, thereby improving the mowing coverage of the lawnmower robot.

[0138] In some embodiments, as shown in FIG9, the distance between the edge of the cutting mechanism 204 and the outer edge surface of the side of the lawnmower robot is not less than 20mm. Under this design premise, in order for the cutting mechanism 204 to be as close as possible to the working boundary, the side sensing component 3 needs to be able to detect the boundary information of the inner side of the outer edge surface of the side of the machine body 200, that is, the distance between the second intersection line and the outer edge surface of the side of the machine body 200 needs to be a negative value. When the distance between the second intersection line and the outer edge surface of the side of the machine body 200 is negative, the lawnmower robot can go beyond the boundary and use the cutting mechanism 204 to cut the grass on the boundary. The closer the distance between the second intersection line and the outer edge surface of the side of the machine body 200 is to -20mm, the closer the cutting mechanism 204 can be to the working boundary. When the distance between the edge of the cutting mechanism 204 and the outer edge of the side of the mowing robot is 20mm, and the distance between the second intersection line and the outer edge of the side of the machine body 200 is -20mm, the cutting edge of the cutting mechanism 204 can overlap with the working boundary, thereby achieving complete cutting of the grass within the working boundary and achieving 100% mowing coverage. When the distance between the edge of the cutting mechanism 204 and the outer edge of the side of the mowing robot is 20mm, and the distance between the second intersection line and the outer edge of the side of the machine body 200 is less than -20mm (e.g., -30mm), the cutting edge of the cutting mechanism 204 will exceed the working boundary, which is unnecessary.

[0139] In some embodiments, to avoid the side sensing component 3 being obstructed by tall grass, the side sensing component 3 cannot be located at the bottom of the machine body 200, but rather at the side of the machine body 200 at a certain distance from the working surface 300, so that the side sensing component 3 is located at a higher position. Furthermore, under the design requirement that the side detection blind zone cannot be too large, the distance between the second intersection line and the outer edge surface of the side of the machine body 200 needs to be less than 20mm.

[0140] In one embodiment, as shown in FIG10, a first mounting hole 2031 is provided at the front end of the upper shell 203, and a second mounting hole 2032 is provided on at least one side of the upper shell 203. The front sensing component 2 is embedded in the first mounting hole 2031, and the side sensing component 3 is embedded in the second mounting hole 2032.

[0141] In one embodiment, when the upper shell 203 has a second mounting hole 2032 on both sides, the second mounting holes 2032 are symmetrically arranged on both sides of the upper shell 203.

[0142] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A composite sensing device, characterized in that, include: A composite housing, wherein the composite housing forms a first accommodating space and a second accommodating space; A front-facing sensing component is disposed in the first accommodating space for detecting environmental information in front; A side-mounted sensing component, disposed in the second accommodating space, is used to detect environmental information on the side.

2. The composite sensing device as described in claim 1, characterized in that, The composite housing includes a first housing, a second housing, and a third housing. The first housing and the second housing form the first accommodating space, and the second housing and the third housing form the second accommodating space.

3. The composite sensing device as described in claim 2, characterized in that, The second housing has a first surface and a second surface that are disposed opposite to each other. The first surface and the first housing form the first receiving space, and the second surface and the third housing form the second receiving space.

4. The composite sensing device as described in claim 3, characterized in that, The third housing includes a receiving housing and a connecting housing. One end of the connecting housing is connected to the receiving housing, and the other end of the connecting housing is connected to the second surface. The side sensing component includes a side sensor and an electrical connection wire. The side sensor is disposed in the receiving housing, and the electrical connection wire passes through the connecting housing.

5. The composite sensing device as described in claim 2, characterized in that, The second housing is provided with a first opening, and the first accommodating space is connected to the second accommodating space through the first opening.

6. The composite sensing device as described in claim 5, characterized in that, The first accommodating space is also provided with a control circuit board. The side sensing component includes a side sensor and an electrical connection wire. One end of the electrical connection wire is electrically connected to the side sensor, and the other end of the electrical connection wire passes through the first opening and is electrically connected to the control circuit board.

7. The composite sensing device as described in claim 2, characterized in that, The first housing has a first optical window and a first cleaning component on its side wall. The first cleaning component is used to clean the first optical window, and / or the third housing has a second optical window and a second cleaning component. The second cleaning component is used to clean the second optical window.

8. The composite sensing device according to any one of claims 1 to 7, characterized in that, The front sensing component is located on the central axis of the composite sensing device, and the side sensing component is located on one side of the central axis.

9. The composite sensing device according to any one of claims 1 to 7, characterized in that, The distance between the front sensing component and the front end of the composite housing is less than the distance between the side sensing component and the front end of the composite housing.

10. The composite sensing device according to any one of claims 1 to 7, characterized in that, The front sensing component includes at least one of a monocular camera, a multi-camera system, a lidar, an ultrasonic sensor, and a millimeter-wave radar, and the side sensing component includes at least one of a lidar, a monocular camera, and a fisheye camera.

11. The composite sensing device according to any one of claims 1 to 7, characterized in that, The detection space of the front sensing component overlaps with the detection space of the side sensing component.

12. The composite sensing device according to any one of claims 1 to 7, characterized in that, The horizontal field of view of the front sensing component is smaller than that of the side sensing component.

13. The composite sensing device as described in claim 12, characterized in that, The horizontal field of view of the front sensing component is 90 to 130 degrees; and / or, the horizontal field of view of the side sensing component is 110 to 150 degrees.

14. The composite sensing device according to any one of claims 1 to 7, characterized in that, The vertical field of view of the front sensing component is smaller than that of the side sensing component.

15. The composite sensing device as described in claim 14, characterized in that, The vertical field of view of the front sensing component is between 70 and 100 degrees; and / or, the vertical field of view of the side sensing component is between 90 and 120 degrees.

16. The composite sensing device according to any one of claims 1 to 7, characterized in that, The horizontal field of view of the front sensing component is greater than the vertical field of view of the front sensing component; And / or, the horizontal field of view of the side sensing component is greater than the vertical field of view of the side sensing component.

17. A lawnmower robot, characterized in that, include: The main body of the machine is movable on the working surface; A sensing device, the sensing device being mounted on the machine body, the sensing device being a composite sensing device as described in any one of claims 1 to 16.

18. The lawnmower robot as described in claim 17, characterized in that, The front sensing component is mounted at a greater height on the machine body than the side sensing component is mounted on the machine body.

19. The lawnmower robot as described in claim 18, characterized in that, The installation height difference between the front sensing component and the side sensing component is greater than 50mm.

20. The lawnmower robot as described in claim 17, characterized in that, The detection direction of the front sensing component is tilted downward, and the detection direction has a first angle with the working surface. The detection direction of the side sensing component is tilted downward, and the detection direction has a second angle with the working surface. The first angle is smaller than the second angle.

21. The lawnmower robot as described in claim 17, characterized in that, The detection space of the front sensing component has at least a first intersection line with the working surface, and the distance between the first intersection line and the front end of the machine body is between 0mm and 180mm.

22. The lawnmower robot as described in claim 17, characterized in that, The detection space of the side sensing component has at least a second intersection line with the working surface, and the distance between the second intersection line and the outer edge surface of the side of the machine body is between -20mm and 20mm.

23. The lawnmower robot as described in any one of claims 17 to 22, characterized in that, The main body of the machine includes a main frame, a moving mechanism, and an upper shell. The moving mechanism is located at the bottom of the main frame, the upper shell is floatingly connected to the main frame, and the composite sensing device is installed on the upper shell.

24. The lawnmower robot as described in claim 23, characterized in that, The front end of the upper shell has a first mounting hole, and at least one side of the upper shell has a second mounting hole. The front sensing component is embedded in the first mounting hole, and the side sensing component is embedded in the second mounting hole.

25. The lawnmower robot as described in claim 24, characterized in that, When the second mounting holes are provided on both sides of the upper shell, the second mounting holes are symmetrically arranged on both sides of the upper shell.

Images