本发明涉及园林工具技术领域，特别涉及一种自动识别碎石杂物的草坪机。The invention relates to the technical field of garden tools, in particular to a lawn mower that automatically identifies gravel and debris.
目前市场上常见的草坪机在正常使用割草时，前方的草很茂密很深的时候，里面通常会有碎石和杂物存在，草坪机本身无法识别，只能通过操作者用眼观察。在草况很稀疏或者很浅的区域内肉眼是可以提前观察识别的，但是在草况很茂密很深的区域内根本无法通过肉眼观察识别。或者在光线很弱的地方，或者在阴天傍晚时等环境下割草，均无法通过肉眼观察识别操作区域里面的碎石杂物。如果草坪机通过碎石杂物区域，刀片会甩出造成严重的人身伤害和事故。长期在碎石杂物区域割草也会损坏电机和刀片，大大降低了机器的使用寿命。When the lawn mowers commonly seen on the market are mowing in normal use, when the grass in front is very dense and deep, there are usually gravel and debris in it. The lawn mower itself cannot identify it and can only be observed by the operator. In areas where the grass is very sparse or shallow, it can be observed and identified with the naked eye in advance, but in areas where the grass is very dense and deep, it is impossible to observe and identify it with the naked eye. Or when mowing in places with very weak light or in cloudy evenings, it is impossible to observe and identify gravel and debris in the operating area with the naked eye. If the lawn mower passes through an area with gravel and debris, the blade will be thrown out, causing serious personal injury and accidents. Mowing in an area with gravel and debris for a long time will also damage the motor and blade, greatly reducing the service life of the machine.
针对现有技术的不足，本发明的目的在于提供一种草坪机，其具有自动识别碎石杂物的功能。In view of the deficiencies in the prior art, an object of the present invention is to provide a lawn mower which has the function of automatically identifying gravel and debris.
本发明解决现有技术问题可采用如下技术方案：一种草坪机包括底座、传感器以及控制器，所述底座的底部安装有行走轮，所述行走轮用于将底座支撑于地面上并带动所述底座在地面上行走。传感器设置在所述底座的前端，用于探测所述底座前方区域是否存在碎石杂物并在检测到碎石杂物时生成异常信号。控制器设置在所述底座上并与所述传感器电连接，用于接收所述传感器生成的异常信号并根据所述异常信号控制所述草坪机作出避险反应。The present invention solves the existing technical problems by adopting the following technical solutions: a lawn mower includes a base, a sensor and a controller. A running wheel is installed at the bottom of the base, and the running wheel is used to support the base on the ground and drive the base to walk on the ground. The sensor is arranged at the front end of the base, and is used to detect whether there are gravel and debris in the area in front of the base and generate an abnormal signal when gravel and debris are detected. The controller is arranged on the base and is electrically connected to the sensor, and is used to receive the abnormal signal generated by the sensor and control the lawn mower to make a risk avoidance response according to the abnormal signal.
可选地，上述草坪机包括报警器组件，所述报警器组件与所述控制器电连接，用于在所述控制器接收到所述异常信号时在所述控制器的控制下报警。Optionally, the lawn mower comprises an alarm assembly, which is electrically connected to the controller and is used for sounding an alarm under the control of the controller when the controller receives the abnormal signal.
可选地，所述传感器在重新检测到所述底座前方区域不存在碎石杂物时生成第一正常信号，所述控制器根据所述第一正常信号控制所述报警器停止报警。Optionally, the sensor generates a first normal signal when re-detecting that there is no gravel or debris in the area in front of the base, and the controller controls the alarm to stop sounding the alarm according to the first normal signal.
可选地，所述传感器在所述底座前进方向的探测距离为L，所述传感器到所述底座前端端面的水平距离为△L，操作者反应时间为t，所述草坪机的行走速度为v，其中，所述L被配置为：L＞vt+△L。Optionally, the detection distance of the sensor in the forward direction of the base is L, the horizontal distance from the sensor to the front end surface of the base is △L, the operator's reaction time is t, and the walking speed of the lawn mower is v, wherein L is configured as: L＞vt+△L.
可选地，所述底座还包括切割机构，所述切割机构与所述控制器电连接，用于在所述控制器接收到异常信号时在所述控制器的控制下停止切割。Optionally, the base further includes a cutting mechanism, which is electrically connected to the controller and is configured to stop cutting under the control of the controller when the controller receives an abnormal signal.
可选地，所述传感器在重新检测到所述底座前方区域不存在碎石杂物时生成第二正常信号，所述控制器根据所述第二正常信号控制所述切割机构启动切割。Optionally, the sensor generates a second normal signal when re-detecting that there is no gravel or debris in the area in front of the base, and the controller controls the cutting mechanism to start cutting according to the second normal signal.
可选地，所述底座还包括行走驱动系统，所述行走驱动系统与所述行走轮连接，用于驱动所述行走轮转动，所述行走驱动系统与所述控制器电连接，用于在所述控制器接收到所述异常信号时在所述控制器的控制下停机。Optionally, the base also includes a travel drive system, which is connected to the travel wheel and is used to drive the travel wheel to rotate. The travel drive system is electrically connected to the controller and is used to shut down under the control of the controller when the controller receives the abnormal signal.
可选地，所述传感器在重新检测到所述底座前方区域不存在碎石异物时生成第三正常信号，所述控制器根据所述第三正常信号控制所述行走驱动系统启动。Optionally, the sensor generates a third normal signal when re-detecting that there is no gravel or foreign matter in the area in front of the base, and the controller controls the travel drive system to start according to the third normal signal.
可选地，所述底座还包括转向机构，所述转向机构作用于所述行走轮，用于调整所述行走轮的前进方向。所述控制器与所述转向机构电连接，用于根据所述异常信号控制所述转向机构改变所述行走轮的前进方向。Optionally, the base further comprises a steering mechanism, the steering mechanism acting on the running wheel for adjusting the forward direction of the running wheel. The controller is electrically connected to the steering mechanism, and is used to control the steering mechanism to change the forward direction of the running wheel according to the abnormal signal.
可选地，所述转向机构包括转向电机与转向器，所述转向电机驱动所述转向器作用于所述行走轮并带动所述行走轮发生前进方向的偏转。所述控制器与所述转向电机电连接，用于根据所述异常信号控制所述转向电机启动。Optionally, the steering mechanism includes a steering motor and a steering gear, the steering motor drives the steering gear to act on the running wheel and drive the running wheel to deflect in the forward direction. The controller is electrically connected to the steering motor and is used to control the steering motor to start according to the abnormal signal.
可选地，所述传感器在宽度方向的探测范围覆盖所述草坪机的割草范围。Optionally, the detection range of the sensor in the width direction covers the mowing range of the lawn mower.
可选地，所述底座上安装有推杆，推杆用于供操作人员握持。Optionally, a push rod is installed on the base, and the push rod is used for an operator to hold.
与现有技术相比，本发明具有如下有益效果：在底座的前端设置传感器，对底座前方区域的碎石杂物进行监控，一旦检测到前方出现碎石杂物，控制器将会控制底座作出避险反应，例如报警、草坪机停止行进、刀片组件停止切割等，可有效保护操作人员的人身安全、减少意外的发生、且可延长草坪机的寿命。Compared with the prior art, the present invention has the following beneficial effects: a sensor is arranged at the front end of the base to monitor gravel and debris in the area in front of the base. Once gravel and debris are detected in the front, the controller will control the base to make a risk avoidance response, such as alarm, stop the lawn mower from moving, stop the blade assembly from cutting, etc., which can effectively protect the personal safety of the operator, reduce the occurrence of accidents, and extend the life of the lawn mower.
下面结合附图对本发明的具体实施方式做进一步详细的说明:The specific embodiments of the present invention are further described in detail below in conjunction with the accompanying drawings:
图1是本发明一种实施例的草坪机的立体示意图；FIG1 is a perspective schematic diagram of a lawn mower according to an embodiment of the present invention;
图2是本发明一种实施例的草坪机的局部视图；FIG2 is a partial view of a lawn mower according to an embodiment of the present invention;
图3是本发明一种实施例的草坪机底座上局部结构的立体示意图；FIG3 is a perspective schematic diagram of a local structure on a lawn mower base according to an embodiment of the present invention;
图4是图3所示的草坪机本体上局部结构的部分分解图；FIG4 is a partial exploded view of a local structure of the lawn mower body shown in FIG3 ;
图5是图3所示的草坪机本体上局部结构的剖视图；FIG5 is a cross-sectional view of a partial structure of the lawn mower body shown in FIG3;
图6是本发明一种实施例所示的草坪机的侧视图；FIG6 is a side view of a lawn mower shown in an embodiment of the present invention;
图7是本发明一种实施例所示的草坪机的俯视图；FIG7 is a top view of a lawn mower according to an embodiment of the present invention;
图8是本发明另一种实施例所示的草坪机的俯视图。FIG. 8 is a top view of a lawn mower according to another embodiment of the present invention.
图中附图标记的含义：
100、底座；210、行走轮；300、传感器；400、控制器；510、刀片组件；
520、驱动电机；530、驱动电池；220、行走电机；600、照明组件；610、照明灯；620、电路板；630、支架；640、灯罩；110、外壳；120、电机仓；130、动力舱；131凹槽；700、推杆。Meaning of the reference numerals in the figures:
100, base; 210, travel wheel; 300, sensor; 400, controller; 510, blade assembly;
520, driving motor; 530, driving battery; 220, walking motor; 600, lighting assembly; 610, lighting lamp; 620, circuit board; 630, bracket; 640, lampshade; 110, housing; 120, motor compartment; 130, power compartment; 131 groove; 700, push rod.
在本发明中使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本发明。例如下述的“上”、“下”、“前”、“后”等指示方位或位置关系的词语仅基于附图所示的方位或位置关系，仅为了便于描述本发明和简化描述，而不是指示或暗示所指的装置/元件必须具有特定的方位或以特定的方位构造和操作，因此不能理解为对本发明的限制。The terms used in the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. For example, the words "upper", "lower", "front", "back" and the like indicating orientation or positional relationship are based on the orientation or positional relationship shown in the drawings and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device/element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention.
请参考图1-图8，本申请提供了一种草坪机，该草坪机包括底座100、传感器300以及控制器400，底座100的底部安装有行走轮210，行走轮210用于将底座100支撑于地面上并带动底座100在地面上行走。传感器300设置在底座100的前端，用于探测底座100前方区域是否存在碎石杂物并在检测到碎石杂物时生成异常信号。控制器400设置在底座100上并与传感器300电连接，用于接收传感器300生成的异常信号并根据异常信号控制草坪机作出的避险反应。Please refer to Figures 1 to 8. The present application provides a lawn mower, which includes a base 100, a sensor 300 and a controller 400. A walking wheel 210 is installed at the bottom of the base 100. The walking wheel 210 is used to support the base 100 on the ground and drive the base 100 to walk on the ground. The sensor 300 is arranged at the front end of the base 100, and is used to detect whether there are gravel debris in the area in front of the base 100 and generate an abnormal signal when gravel debris is detected. The controller 400 is arranged on the base 100 and is electrically connected to the sensor 300, and is used to receive the abnormal signal generated by the sensor 300 and control the risk avoidance response of the lawn mower according to the abnormal signal.
应理解，底座100的前端是指底座100指向前进方向的端部。上述草坪机可以是手推式草坪机或者智能草坪机等。It should be understood that the front end of the base 100 refers to the end of the base 100 pointing to the forward direction. The above-mentioned lawn mower can be a hand-push lawn mower or an intelligent lawn mower.
在上述实施过程中，草坪机在修剪草坪的过程中，传感器300实时检测前方区域的情况，一旦检测到有碎石杂物的存在，就会生成异常信号，并将异常信号发送至控制器400，控制器400接收到异常信号后控制草坪机作出各种避险反应，如报警、停机、停止继续行走或者改变前进方向等，从而避免草坪机的刀片组件510碰到碎石等较为坚硬的物体，避免碎石在刀片组件510旋转作用下甩出草坪机底部造成的人身伤害和事故，同时也有效保护刀片组件510和刀片组件510的驱动电机520的性能。In the above implementation process, when the lawn mower is mowing the lawn, the sensor 300 detects the situation in the front area in real time. Once the presence of gravel or debris is detected, an abnormal signal is generated and sent to the controller 400. After receiving the abnormal signal, the controller 400 controls the lawn mower to make various risk avoidance responses, such as alarm, shutdown, stopping or changing the direction of travel, etc., so as to prevent the blade assembly 510 of the lawn mower from hitting harder objects such as gravel, and to prevent the gravel from being thrown out of the bottom of the lawn mower under the rotation of the blade assembly 510, causing personal injury and accidents, while also effectively protecting the performance of the blade assembly 510 and the drive motor 520 of the blade assembly 510.
可选地，上述草坪机为手推式草坪机，草坪机的底座100上安装有推杆700，推杆700供操作人员握持，以便操作人员推动草坪机。Optionally, the lawn mower is a hand-push lawn mower, and a push rod 700 is installed on the base 100 of the lawn mower, and the push rod 700 is for an operator to hold so that the operator can push the lawn mower.
可选地，上述草坪机上设置有报警器组件，报警器组件与控制器400电连接，用于在控制器400接收到异常信号时在控制器400的控制下报警。Optionally, the lawn mower is provided with an alarm assembly, which is electrically connected to the controller 400 and is used for sounding an alarm under the control of the controller 400 when the controller 400 receives an abnormal signal.
报警的避险方式较为适用于手推式草坪机或者其他用户始终跟随在草坪机周围的类型，在报警器组件发出报警提示后，操作人员能够立即察觉到报警提示，并随机作出反应，关闭驱动电机520、阻止草坪机继续行走或者调整草坪机的行进方向。The alarm avoidance method is more suitable for hand-push lawn mowers or other types of lawn mowers that users always follow around. After the alarm component issues an alarm prompt, the operator can immediately perceive the alarm prompt and respond randomly, turning off the drive motor 520, stopping the lawn mower from continuing to move, or adjusting the direction of travel of the lawn mower.
具体地，报警器组件可以全部或部分设置在草坪机的底座100上、也可以连接在底座100上的推杆700上、或者根据草坪机的结构布局设置在其他便于操作者看到或察觉到的地方。Specifically, the alarm assembly can be completely or partially arranged on the base 100 of the lawn mower, or can be connected to the push rod 700 on the base 100, or can be arranged at other places that are easy for the operator to see or perceive according to the structural layout of the lawn mower.
待操作人员作出避险操作后，操作人员可手动关闭报警器，报警器也可以自动关闭。具体的，传感器300在重新检测到底座100前方区域不存在碎石杂物时生成第一正常信号，控制器400根据第一正常信号控制报警器停止报警。After the operator performs the risk avoidance operation, the operator can manually turn off the alarm, or the alarm can be automatically turned off. Specifically, the sensor 300 generates a first normal signal when it re-detects that there is no gravel debris in the area in front of the base 100, and the controller 400 controls the alarm to stop the alarm according to the first normal signal.
操作人员从察觉到报警提示到作出避险操作需要一定的反应时间，若传感器300的探测距离太短将会导致操作人员还未作出避险操作时草坪机已经到达碎石所在处，若探测距离太远，一方面探测结果准确度会降低，另一方面操作人员作出避险反应时距离草坪机还留有一段距离。It takes a certain amount of reaction time for the operator to perceive the alarm and take evasive action. If the detection distance of the sensor 300 is too short, the lawn mower will reach the gravel before the operator takes evasive action. If the detection distance is too far, on the one hand, the accuracy of the detection result will be reduced, and on the other hand, the operator will still be some distance away from the lawn mower when taking evasive action.
可选地，传感器300在底座100前进方向的探测距离满足以下条件：传感器300在底座100前进方向的探测距离为L，传感器300到底座100前端端面的水平距离为△L，操作者的反应时间为t，草坪机的行走速度为v，L＞vt+△L。Optionally, the detection distance of the sensor 300 in the forward direction of the base 100 satisfies the following conditions: the detection distance of the sensor 300 in the forward direction of the base 100 is L, the horizontal distance from the sensor 300 to the front end surface of the base 100 is △L, the operator's reaction time is t, the walking speed of the lawn mower is v, L＞vt+△L.
请参考图6-图8，应理解，传感器300在底座100前进方向的探测距离L是指传感器300的实际水平探测距离减去传感器300到底座100前端端面的水平距离△L的差距。6-8 , it should be understood that the detection distance L of the sensor 300 in the forward direction of the base 100 refers to the difference between the actual horizontal detection distance of the sensor 300 and the horizontal distance △L from the sensor 300 to the front end surface of the base 100.
可选地，请参考图7和图8，操作人员的反应时间一般在1.0s-1.5s，草坪机的行走速度一般为1m/s，因此限定传感器300在底座100前进方向的探测距离L≥2m，传感器300的水平探测角度α≥14°，传感器300的竖直探测角度β≤8°，可以有效避免草坪机到达碎石杂物所在处，也可保证有效的检测效果。Optionally, please refer to Figures 7 and 8. The operator's reaction time is generally 1.0s-1.5s, and the walking speed of the lawn mower is generally 1m/s. Therefore, the detection distance L of the sensor 300 in the forward direction of the base 100 is limited to 2m, the horizontal detection angle α of the sensor 300 is ≥14°, and the vertical detection angle β of the sensor 300 is ≤8°. This can effectively prevent the lawn mower from reaching the location of gravel and debris, and can also ensure an effective detection effect.
可选地，报警器组件的种类选择可以是各种各样的，例如声音报警器、闪光或者变更颜色的颜色报警器、振动报警器等。采用振动报警器时，可将振动报警器设置在距离操作人员手部握持较近的位置，以便操作人员区分草坪机的振动和报警器组件的振动。Optionally, the alarm assembly can be of various types, such as a sound alarm, a flashing or color-changing alarm, a vibration alarm, etc. When a vibration alarm is used, the vibration alarm can be set at a position close to the operator's hand so that the operator can distinguish between the vibration of the lawn mower and the vibration of the alarm assembly.
进一步地，报警器组件包括声音报警器、颜色报警器以及第一光电传感器300，声音报警器、颜色报警器以及第一光电传感器300与控制器400电连接，第一光电传感器300用于检测外界环境的光线亮度，并在检测到外界环境的光线亮度达到或者高于预定值时向控制器400发出第一信号，并在检测到外界环境的光线亮度低于预定值时向控制器400发出第二信号，控制器400用于根据第一信号控制声音报警器通电并同时控制颜色报警器断电，并根据第二信号控制颜色报警器通电并同时控制声音报警器断电。Furthermore, the alarm assembly includes a sound alarm, a color alarm and a first photoelectric sensor 300, which are electrically connected to a controller 400. The first photoelectric sensor 300 is used to detect the brightness of light in the external environment, and sends a first signal to the controller 400 when it detects that the brightness of light in the external environment reaches or exceeds a predetermined value, and sends a second signal to the controller 400 when it detects that the brightness of light in the external environment is lower than a predetermined value. The controller 400 is used to control the sound alarm to be powered on and the color alarm to be powered off according to the first signal, and to control the color alarm to be powered on and the sound alarm to be powered off according to the second signal.
闪光或者颜色变更的颜色报警器在白天光线较亮的环境下效果不明显，无法起到有效的提示作用，声音报警器虽然提示效果明显，但是夜晚容易扰民。因此本申请的一种实施方式采用声音报警器和颜色报警器结合的方式，白天采用声音报警器报警，夜晚采用颜色报警器报警，即可保证报警提示作用，又可在夜晚降低草坪机作业的噪声扰民影响。The flashing or color-changing color alarm is not effective in bright daytime environments and cannot provide an effective warning. Although the sound alarm has an obvious warning effect, it is easy to disturb people at night. Therefore, one embodiment of the present application uses a combination of a sound alarm and a color alarm. The sound alarm is used during the day and the color alarm is used at night. This can ensure the warning warning effect and reduce the noise disturbance caused by the lawn mower at night.
在一种可能的实施方式中，底座100还包括切割机构，切割机构与控制器400电连接，用于在控制器400接受到异常信号时在控制器400的控制下停止切割。In a possible implementation, the base 100 further includes a cutting mechanism, which is electrically connected to the controller 400 and is configured to stop cutting under the control of the controller 400 when the controller 400 receives an abnormal signal.
控制器400在传感器300检测到前方有碎石杂物时直接控制切割机构停止转动，同时，草坪机可以继续行进，待跨过碎石杂物区，重新启动切割机构进行切割；或者草坪机停止行进，待操作人员将前方的碎石杂物清理完毕后，重新启动切割机构进行切割。When the sensor 300 detects gravel and debris ahead, the controller 400 directly controls the cutting mechanism to stop rotating. At the same time, the lawn mower can continue to move forward, and restart the cutting mechanism for cutting after crossing the gravel and debris area; or the lawn mower stops moving and restarts the cutting mechanism for cutting after the operator has cleared the gravel and debris ahead.
在跨过、绕过或者清理完底座100前方的碎石杂物后，切割结构可以被手动启动，也可以自动启动。具体地，传感器300在重新检测到底座100前方区域不存在碎石炸物后生成第二正常信号，控制器400根据第二正常信号控制切割机构启动切割。After crossing, bypassing or clearing the debris in front of the base 100, the cutting mechanism can be manually started or automatically started. Specifically, the sensor 300 generates a second normal signal after re-detecting that there is no debris in the area in front of the base 100, and the controller 400 controls the cutting mechanism to start cutting according to the second normal signal.
上述底座100包括底架、刀片组件510以及驱动电路系统，刀片组件510转动连接在底架上，驱动电路系统包括驱动电池530、驱动电机520以及电连接驱动电池530与驱动电机520的驱动供电电路，驱动电机520安装在底架上，与刀片组件510连接用于带动刀片组件510转动。The base 100 includes a base frame, a blade assembly 510 and a driving circuit system. The blade assembly 510 is rotatably connected to the base frame. The driving circuit system includes a driving battery 530, a driving motor 520 and a driving power supply circuit electrically connecting the driving battery 530 and the driving motor 520. The driving motor 520 is installed on the base frame and connected to the blade assembly 510 to drive the blade assembly 510 to rotate.
控制器400与驱动供电电路电连接，用于根据异常信号控制切断驱动供电电路和/或根据第二正常信号控制连通驱动供电电路。The controller 400 is electrically connected to the driving power supply circuit, and is used to control cutting off the driving power supply circuit according to the abnormal signal and/or control connecting the driving power supply circuit according to the second normal signal.
控制器400与驱动电机520电连接，用于根据异常信号控制驱动电机520停机和/或根据第二正常信号控制驱动电机520开机。The controller 400 is electrically connected to the driving motor 520 and is used to control the driving motor 520 to stop according to the abnormal signal and/or control the driving motor 520 to start according to the second normal signal.
在一种可能的实施方式中，底座100还包括行走驱动系统，行走驱动系统与行走轮210连接，用于驱动行走轮210转动，行走驱动系统与控制器400电连接，用于在控制器400接收到异常信号时在控制器400的控制下停机。In a possible embodiment, the base 100 also includes a travel drive system, which is connected to the travel wheel 210 and is used to drive the travel wheel 210 to rotate. The travel drive system is electrically connected to the controller 400 and is used to shut down under the control of the controller 400 when the controller 400 receives an abnormal signal.
控制器400在传感器300检测到前方有碎石杂物时直接控制行走轮210停止前进，同时切割机构可以继续转动，或者切割机构也停止转动。When the sensor 300 detects that there are gravels and debris ahead, the controller 400 directly controls the traveling wheel 210 to stop moving forward, while the cutting mechanism can continue to rotate, or the cutting mechanism also stops rotating.
待操作人员清理完碎石杂物或者草坪机调转行进方向后，操作人员手动启动行走驱动系统，行走驱动系统也可自动启动。具体地，传感器300在重新检测到底座100前方区域不存在碎石异物时生成第三正常信号，控制器400根据第三控制信号控制行走驱动系统启动，带动行走轮210转动。After the operator has cleaned up the gravel or the lawn mower has changed its direction of travel, the operator manually starts the travel drive system, or the travel drive system can start automatically. Specifically, the sensor 300 generates a third normal signal when it re-detects that there is no gravel or foreign matter in the area in front of the base 100, and the controller 400 controls the travel drive system to start according to the third control signal, driving the travel wheel 210 to rotate.
可选地，行走驱动系统包括行走电池、行走电机220以及连接行走电池和行走电机220的行走供电电路，行走电机220与行走轮210连接，用于驱动行走轮210转动。Optionally, the travel drive system includes a travel battery, a travel motor 220 and a travel power supply circuit connecting the travel battery and the travel motor 220 . The travel motor 220 is connected to the travel wheel 210 to drive the travel wheel 210 to rotate.
控制器400与行走供电电路电连接，根据异常信号控制切断行走供电电路和/或根据第三正常信号控制行走供电电路导通。The controller 400 is electrically connected to the walking power supply circuit, and controls the walking power supply circuit to be cut off according to the abnormal signal and/or controls the walking power supply circuit to be turned on according to the third normal signal.
控制器400与行走电机220电连接，根据异常信号控制行走电机220停机和/或根据第三正常控制行走电机220启动。The controller 400 is electrically connected to the travel motor 220 , and controls the travel motor 220 to stop according to the abnormal signal and/or controls the travel motor 220 to start according to the third normal condition.
可选地，行走电机220可以采用自走电机，与行走轮210集成为自走车轮。Optionally, the travel motor 220 may be a self-propelled motor, which is integrated with the travel wheel 210 to form a self-propelled wheel.
在一种可能的实施方式中，底座100还包括转向机构，转向机构作用于行走轮210，用于调整行走轮210的前进方向。控制器400与转向机构电连接，用于根据异常信号控制转向机构改变行走轮210的前进方向，从而绕过碎石炸物区域。In a possible implementation, the base 100 further includes a steering mechanism, which acts on the running wheel 210 to adjust the forward direction of the running wheel 210. The controller 400 is electrically connected to the steering mechanism, and is used to control the steering mechanism to change the forward direction of the running wheel 210 according to the abnormal signal, so as to bypass the gravel and explosive area.
可选地，转向机构包括转向电机和转向器，转向电机驱动转向器作用于行走轮210并带动行走轮210发生行进方向的偏转。控制器400与转向电机电连接，用于根据异常信号控制转向电机启动。Optionally, the steering mechanism includes a steering motor and a steering gear, and the steering motor drives the steering gear to act on the running wheel 210 and drive the running wheel 210 to deflect in the traveling direction. The controller 400 is electrically connected to the steering motor and is used to control the steering motor to start according to the abnormal signal.
可选地，传感器300在宽度方向的探测范围覆盖草坪机的割草范围，避免遗漏。Optionally, the detection range of the sensor 300 in the width direction covers the mowing range of the lawn mower to avoid omissions.
应理解，上述宽度方向是指垂直于底座100行进方向且平行于地面的方向。It should be understood that the width direction mentioned above refers to a direction perpendicular to the moving direction of the base 100 and parallel to the ground.
可选地，传感器300为红外传感器300、图像识别传感器300以及雷达传感器300中的一种。Optionally, the sensor 300 is one of an infrared sensor 300 , an image recognition sensor 300 , and a radar sensor 300 .
可选地，请参考图2-图5，底座100包括底架、外壳110、电机仓120以及动力舱130。外壳110安装在底架上。电机仓120收容与外壳110内，用于容纳驱动电机520。动力舱130安装在外壳110并位于电机仓120的上方，动力舱130至少部分露出于底架的上方，传感器300位于动力舱130的前部。Optionally, referring to FIGS. 2 to 5 , the base 100 includes a base frame, a housing 110, a motor compartment 120, and a power compartment 130. The housing 110 is mounted on the base frame. The motor compartment 120 is accommodated in the housing 110 for accommodating a drive motor 520. The power compartment 130 is mounted on the housing 110 and is located above the motor compartment 120. The power compartment 130 is at least partially exposed above the base frame, and the sensor 300 is located in front of the power compartment 130.
可选地，动力舱130设有位于前部中央且朝向前方的开口，传感器300收容于开口内。Optionally, the power compartment 130 is provided with an opening located at the front center and facing forward, and the sensor 300 is accommodated in the opening.
对于图像识别传感器300等依赖光线检测的传感器300，可将传感器300集成到照明灯610上。For sensors 300 that rely on light detection, such as image recognition sensors 300 , the sensors 300 may be integrated into the lighting fixture 610 .
具体地，底座100包括照明组件600，照明组件600包括电性连接于控制器400的电路板620及安装于电路板620上的照明灯610与第二光电传感器300，传感器300安装于电路板620上。Specifically, the base 100 includes a lighting assembly 600 , which includes a circuit board 620 electrically connected to the controller 400 , and a lighting lamp 610 and a second photoelectric sensor 300 mounted on the circuit board 620 . The sensor 300 is mounted on the circuit board 620 .
光电传感器300感测到光线强度低于第一预定强度时生成第一感测信号，控制器400根据第一感测信号控制照明灯610打开；和/或，光电传感器300感测到光线强度高于第二预定强度时生成第二感测信号，控制器400根据第二感测信号控制照明灯610关闭。When the photoelectric sensor 300 senses that the light intensity is lower than a first predetermined intensity, it generates a first sensing signal, and the controller 400 controls the lighting lamp 610 to turn on according to the first sensing signal; and/or, when the photoelectric sensor 300 senses that the light intensity is higher than a second predetermined intensity, it generates a second sensing signal, and the controller 400 controls the lighting lamp 610 to turn off according to the second sensing signal.
动力舱130设有位于前部两侧的两个凹槽131，底座100包括容置于凹槽131内的照明组件600，传感器300安装于照明组件600内。凹槽131内支撑有支架630，电路板620固定安装在支架630上，支架630前端罩设有灯罩640，灯罩640将照明组件600整体保护于凹槽131内。The power compartment 130 is provided with two grooves 131 on both sides of the front, the base 100 includes a lighting assembly 600 accommodated in the groove 131, and the sensor 300 is installed in the lighting assembly 600. A bracket 630 is supported in the groove 131, and the circuit board 620 is fixedly installed on the bracket 630. A lampshade 640 is provided at the front end of the bracket 630, and the lampshade 640 protects the lighting assembly 600 as a whole in the groove 131.
底座100还包括收容于动力舱130内的电池包，电池包位于电机的上方且电性连接于电机，控制器400设置于底座100的后部且位于电机与电池包之间。The base 100 further includes a battery pack housed in the power compartment 130 . The battery pack is located above the motor and electrically connected to the motor. The controller 400 is disposed at the rear of the base 100 and between the motor and the battery pack.
本发明不局限于上述具体实施方式。本领域普通技术人员可以很容易地理解到，在不脱离本发明的原理和范畴的前提下，本发明的草坪机还有很多的替代方案。本发明的保护范围以权利要求书的内容为准。The present invention is not limited to the above specific embodiments. A person skilled in the art can easily understand that there are many alternatives to the lawn mower of the present invention without departing from the principle and scope of the present invention. The protection scope of the present invention shall be subject to the content of the claims.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311748772.9 | 2023-12-19 | ||
| CN202311748772.9ACN117652271A (en) | 2023-12-19 | 2023-12-19 | Lawn machine |
| Publication Number | Publication Date |
|---|---|
| WO2025130546A1true WO2025130546A1 (en) | 2025-06-26 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/CN2024/135360PendingWO2025130546A1 (en) | 2023-12-19 | 2024-11-28 | Lawn mower |
| Country | Link |
|---|---|
| CN (1) | CN117652271A (en) |
| WO (1) | WO2025130546A1 (en) |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117652271A (en)* | 2023-12-19 | 2024-03-08 | 江苏东成机电工具有限公司 | Lawn machine |
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| KR20100032488A (en)* | 2008-09-18 | 2010-03-26 | 한밭대학교 산학협력단 | Robotic unmanned lawnmower |
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| CN117652271A (en)* | 2023-12-19 | 2024-03-08 | 江苏东成机电工具有限公司 | Lawn machine |
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| CN220157047U (en)* | 2023-05-30 | 2023-12-12 | 南京泉峰科技有限公司 | Manned lawn mowers and all-terrain vehicles |
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