Patent Application
20250204311
The disclosure relates to a technical field of mower, especially relates to a mower.
In the process of using garden tools, it is necessary to replace the working parts of different specifications according to different use environments to meet the use requirements of different working environments. Such as mower, after the front wheel and the rear wheel of the conventional mower are mounted on the frame, the wheelbase between the front wheel and the rear wheel cannot be changed, and the cutting deck is mounted at the bottom of the mower frame. Since the wheelbase is determined, the specification of the cutting deck can only be selected within the wheelbase range. On one hand, the size of the cutting deck is less selective, and it is impossible to replace the more suitable cutting deck according to the terrain and other working environments, and on the other hand, the wheelbase is fixed, and the cutting deck cannot be well matched with the mower under this wheelbase, which results in the inability to work optimally.
Therefore, a mower that may be easily replaced with different specifications of cutting decks is needed to meet different use requirements.
The disclosure provides a mower to improve a technical problem of the conventional mower with a fixed wheelbase and being unable to replace appropriate cutting deck assembly as needed.
The disclosure provides the mower. The mower includes a frame, a cutting deck and a walking mechanism. The cutting deck is mounted on the frame. The walking mechanism is mounted on the frame and includes a front wheel assembly and a rear wheel assembly. The frame includes a front frame and a rear frame. The front frame is detachably connected with the rear frame. The front frame is provided with the front wheel assembly, and the rear frame is provided with the rear wheel assembly.
In an embodiment of the disclosure, the front frame includes a first cross beam and a first connecting part, the first connecting part extends along a forward direction and from two ends of the first cross beam, and two of the first connecting parts are respectively provided with the front wheel assembly.
In an embodiment of the disclosure, a front end of the first connecting part is provided with an assembling tube that is vertically downward, and the front wheel assembly is assembled on the assembling tube so that the front wheel rotates around an axis that is perpendicular to an axis of the assembling tube.
In an embodiment of the disclosure, both sides of a rear end of the front frame are provided with a U-shaped groove, a front end of the rear frame includes two square tubes, the square tube is inserted into the groove to fix the front frame and the rear frame.
In an embodiment of the disclosure, two first clamping boards are arranged on both sides of the rear end of the front frame, a bottom surface of the two first clamping boards is provided with a second clamping board, the first clamping boards and the second clamping board enclose the groove, corresponding positions of side walls of the square tube and the first clamping board are provided with a first through hole, and a connecting bolt penetrates through the first through hole to connect and fix the front frame and the rear frame.
In an embodiment of the disclosure, the cutting deck assemble includes a cutting deck, the cutting deck is installed at a bottom of the frame, and a minimum distance between the cutting deck and the front wheel is from 10 mm to 60 mm.
In an embodiment of the disclosure, the cutting deck assemble includes the cutting deck, the cutting deck is installed at a bottom of the frame, and a minimum distance between the cutting deck and the rear wheel is from 10 mm to 60 mm.
In an embodiment of the disclosure, the mower further includes a battery, a first placing area is arranged on the frame, and the battery is fixed in the first placing area.
In an embodiment of the disclosure, the first placing area is provided with a plurality of the first mounting hole, and the batteries with different specifications are matched with different first mounting holes.
In an embodiment of the disclosure, the mower includes a driving seat, a walking mechanism and a cutting deck assembly. The driving seat is arranged on the frame. The walking mechanism further includes a driving motor. The front wheel assembly includes a front wheel. The front wheel includes a first front wheel and a second front wheel. The rear wheel assembly includes a rear wheel. The driving motor drives the front wheel and/or the rear wheel. The cutting deck assembly is mounted on the frame. The cutting deck assembly includes a cutting deck, a cutting motor and a cutting blade. The cutting blade includes a first cutting blade and a second cutting blade. Projections projected along a longitudinal direction of the mower, if a projection of the first front wheel overlaps at least partially with a projection of a rotation area of the first cutting blade, a projection of an axis of a rotating shaft of the first cutting blade is located on a side of the projection of the first front wheel away from a projection of a lawn discharging port; if a projection of the second front wheel overlaps at least partially with a projection of a rotation area of the second cutting blade, a projection of an axis of a rotating shaft of the second cutting blade is located on a side of the projection of the second front wheel away from the projection of the lawn discharging port.
In an embodiment of the disclosure, the front wheel assembly includes a front fork rotatably mounted on the frame and a front wheel mounted on the front fork, a front end of the front fork is provided with a wheel protective board, and a front end of the wheel protective board extends beyond the front wheel.
In an embodiment of the disclosure, the cutting deck assembly includes a cutting deck, a height adjustment device and a self-locking mechanism. The cutting deck is connected with the frame through the height adjustment device. The height adjustment device includes a first connecting rod and a second connecting rod. Both of the first connecting rod and the second connecting rod is rotatably connected with the frame. The first connecting rod and the second connecting rod are rotatably connected with the cutting deck respectively. The first connecting rod and the second connecting rod are simultaneously connected with a same third connecting rod. The self-locking mechanism includes a self-locking rod arranged on the height adjustment device and a self-locking component rotatably connected with the frame. A self-locking groove is arranged on the self-locking component, and the self-locking rod enters the self-locking groove to limit a movement of the self-locking rod.
In an embodiment of the disclosure, the self-locking component is provided with a holding part. The self-locking component is rotatably connected with the frame by the rotating shaft, the holding part and the self-locking groove are arranged on both sides of the rotating shaft, and when the self-locking component rotates in a direction away from the self-locking rod, the self-locking groove releases the self-locking rod to enable the self-locking rod to return to its original position.
In an embodiment of the disclosure, a tail of the mower is provided with a first charging port, and the first charging port is at an angle of 15 degrees to 30 degrees with a ground.
In an embodiment of the disclosure, the first charging port is provided with a reversible charging port cover.
In an embodiment of the disclosure, an anti-roll frame is rotatably mounted on the frame. The anti-roll frame is switchable between a first position and a second position. When the anti-roll frame is erected on a side of the driving seat, and is higher than a top of a driver's head in an operating state in the first position, so as to protect the driver when the frame rolls over; and the anti-roll frame is folded relative to the frame in the second position in order to reduce a storage volume of the mower.
In an embodiment of the disclosure, the mower includes the battery. The first placing area is arranged on the frame. The first seating area is located below the driving seat and extends to a rear end of the frame. The first placing area is provided with the plurality of first mounting holes, and the batteries with different specifications are matched with different first mounting holes.
In an embodiment of the disclosure, a front end of the frame is provided with an accessory connecting part.
In an embodiment of the disclosure, the driving motor is connected with the rear wheel. The rear wheel assembly includes a parking releasing mechanism, and the parking releasing mechanism includes a braking plate and a hand-held releasing part. The hand-held releasing part is rotatably arranged on a side of the braking plate away from the rear wheel. When the hand-held releasing part is rotated to a releasing state, the hand-held releasing part partially extends to a side of the braking plate close to the rear wheel, so that the braking plate is pushed away from the driving motor.
In an embodiment of the disclosure, the cutting deck is arranged at the bottom of the frame, and the minimum distance between the cutting deck and the front wheel is from 10 mm to 60 mm.
In an embodiment of the disclosure, a tail of the mower is provided with a storage device, the storage device includes an upper storage platform, a lower storage cavity, and the storage platform is rotatably connected with the frame and seals the storage cavity.
In an embodiment of the disclosure, the mower includes a casing and a control assembly. A tail part of the casing encloses a cavity with an opening upward, and the cavity is provided with a control assembly. A top surface of the cavity is detachably connected with the storage device, and after the storage device is removed, the control assembly may be taken and placed by the opening on the cavity.
In an embodiment of the disclosure, the mower includes an operating device. The operating device includes two operating handles, and the two operating handles respectively control a rotating speed of a same side of the driving motor, in order to control a rotation of the front wheel and/or the rear wheel. The two operating handles are respectively provided with a cutting blade speed regulation key and a walking speed regulation key.
In an embodiment of the disclosure, the cutting deck assembly includes a motor controller. There is a plurality of cutting motors, and the plurality of the cutting motors is all electrically connected with the motor controller. One motor controller controls the plurality of the cutting motors to rotate.
In an embodiment of the disclosure, the cutting deck assembly includes the cutting deck, the height adjustment device and the locking device. The height adjustment device connects the cutting deck with the frame to adjust a height of the cutting deck. The height adjustment device includes a first connecting rod and a second connecting rod, the first connecting rod and the second connecting rod are rotatably connected with the frame, and the first connecting rod and the second connecting rod each is rotatably connected with the cutting deck respectively. After the cutting part is adjusted to different heights through the height adjustment device, a movement of the cutting deck is limited by the locking device.
In an embodiment of the disclosure, the height adjustment device further includes the third connecting rod. The third connecting rod is rotatably connected with a side of the first connecting rod away from the cutting deck and a side of the second connecting rod away from the cutting deck respectively.
In an embodiment of the disclosure, the height adjustment device includes the self-locking mechanism. The self-locking mechanism includes the self-locking rod and the self-locking component. The self-locking component is hinged with the frame, the self-locking component is provided with the self-locking groove, and the self-locking rod and the self-locking groove are matched with each other to limit a downward movement of the cutting deck.
In an embodiment of the disclosure, the self-locking component is rotatably connected with the frame through the rotating shaft. A center of gravity of the self-locking component is located on one side of the rotating shaft close to the self-locking rod, the frame is provided with a limiting device, and the limiting device limits the self-locking component from rotating in a direction towards the self-locking rod.
In an embodiment of the disclosure, the limiting device is a limiting part arranged on the frame, the limiting part extends out to the frame, a bottom of the self-locking component is provided with a protrusion away from the self-locking rod, and the protrusion touches a bottom of the limiting part to limit the self-locking component from rotating toward the self-locking rod.
In an embodiment of the disclosure, the locking device includes a blocking plate and a limiting board, the limiting board is fixed with the frame, the limiting board is provided with a plurality of limiting holes, the limiting hole is matched with a limiting rod, the limiting rod is inserted into different limiting holes to be matched with the blocking plate to keep the cutting deck at different distances from ground.
In an embodiment of the disclosure, an edge of the limiting hole is provided with a protruding clamping hole, a side wall of the limiting rod is provided with a clamping block, and the clamping hole is matched with the clamping block.
In an embodiment of the disclosure, the cutting deck assembly includes a shock absorbing device, a first end of the shock absorbing device is fixed with the frame, and a second end of the shock absorbing device is connected with the height adjustment device. A force of the shock absorbing device acting on the height adjustment device is opposite to a force of the cutting deck assembly acting on the height adjustment device.
In an embodiment of the disclosure, a first end of the first connecting rod away from the cutting deck is provided with a pedal rod. An end part of the first connecting rod is provided with a plurality of pedal mounting holes, and the pedal rod is matched with different pedal mounting holes to adjust a position of the pedal rod on the first connecting rod.
In an embodiment of the disclosure, the cutting deck assembly includes the cutting deck, the cutting part and the cutting baffle. The cutting deck is mounted on the frame of the mower. The cutting part is arranged on the cutting deck and includes the cutting motor and the cutting blade driven by the cutting motor. The cutting baffle is detachably fixed at a bottom of the cutting deck. The cutting baffle defines a cutter accommodating cavity, and the cutting blade is arranged in the cutter accommodating cavity.
In an embodiment of the disclosure, the cutting baffle includes an edge blocking board and a middle blocking board. One side of an accommodating cavity formed by the edge blocking board is provided with the lawn discharging port. The lawn discharging port is arranged on a side or a rear side of a forward direction of the cutting deck, and the discharged lawn may be avoided from splashing on a staff through a mode of side discharging, which may affect the staff.
In an embodiment of the disclosure, the middle blocking board is arranged in an area enclosed by the edge blocking board. The middle blocking board and the edge blocking board enclose a plurality of accommodating cavities, and the cutting blades are arranged in the accommodating cavities.
In an embodiment of the disclosure, there are three cutting blades. The three cutting blades are arranged in a triangular pattern.
In an embodiment of the disclosure, the lawn discharging port is provided at a lawn discharging cover, and an opening of the lawn discharging cover becomes larger from an inside of the cutting deck to an outside of the cutting deck, which is convenient for a discharging of broken lawn and avoids an accumulation of the broken lawn.
In an embodiment of the disclosure, the cutting motor penetrates the cutting deck, and the cutting deck at a contact between the cutting motor and the cutting deck is provided with a plurality of ventilation holes. When air flow passes in the ventilation hole, heat around the cutting motor will be taken away, so as to avoid a problem of a heat accumulation caused by a sealed contact position between the cutting motor and the cutting deck, and improve a heat dissipation effect of the cutting motor.
In an embodiment of the disclosure, a front end of the frame is provided with a roller.
In an embodiment of the disclosure, a height of the cutting baffle near the front wheel of the mower from the ground is greater than a height of the cutting baffle near the rear wheel of the mower.
In an embodiment of the disclosure, the cutting blade is provided with a lawn pushing part, and the lawn pushing part is arranged on a back side of the cutting blade in a cutting direction. A rotating rear edge of the cutting blade bends downward to form the lawn pushing part, thereby forming a front end of the cutting blade to cut the lawn, and the lawn pushing part at a rear side takes the cut lawn away, so as to realize a directional discharging of the lawn after mowing.
In an embodiment of the disclosure, the mower includes the anti-roll frame. The anti-roll frame is rotatably mounted on the frame on a side of the driving seat and is provided with the first position and the second position. When the anti-roll frame is in the first position, it is fixed to stand next to the driving seat, and is higher than the top of a driver's head in the operating state, so as to protect the driver when the frame rolls over; when the anti-roll frame is in the second position, it is folded relative to the frame to reduce the storage volume of the mower.
In an embodiment of the disclosure, a storage groove is arranged on the frame, and the anti-roll frame is clamped into the storage groove when at the second position.
In an embodiment of the disclosure, the anti-roll frame is locked at the first position and/or the second position through a locking structure.
In an embodiment of the disclosure, the locking structure includes a locking pin and an anti-loosening locking body arranged on the locking pin, and an anti-loss pulling structure is arranged between the frame and the locking pin, and/or between the frame and the anti-loosening locking body.
In an embodiment of the disclosure, the anti-loss pulling structure includes a pulling wire and a pulling wire through hole, the pulling wire through hole is arranged on the frame, the pulling wire is threaded in the pulling wire through hole, and two ends of the pulling wire are respectively connected with the locking pin and the anti-loosening locking body. The locking pin and the anti-loosening locking body block on two sides of the pulling wire through hole respectively.
In an embodiment of the disclosure, two sides of the anti-roll frame are respectively rotatably connected through a bolt assembly, the two sides of the anti-roll frame are provided with the anti-loss pulling structure, and the pulling wire through hole is arranged on a gasket in the bolt assembly.
In an embodiment of the disclosure, when the anti-roll frame is in the first position, it tilts 5 degrees to 10 degrees toward a head part of the frame from bottom to top.
In an embodiment of the disclosure, a position where the anti-roll frame is in contact with the storage groove is provided with a shock absorbing body and/or a protective body, and a lighting assembly is mounted on the anti-roll frame.
In an embodiment of the disclosure, two sides of the frame are symmetrically provided with a second mounting frame, and the two sides of the anti-roll frame are coaxially rotatably connected with the second mounting frames on both sides respectively. A height of the second mounting frame is lower than a height of the driving seat.
In an embodiment of the disclosure, the anti-roll frame is provided with the protective body that prevents a head of the driver from touching when the frame rolls over.
In an embodiment of the disclosure, the mower includes the frame, the walking wheel, the cutting deck assembly, a cutting motor and the storage platform. The walking wheel is mounted at the bottom the frame. The cutting deck assembly is mounted on the frame. The cutting deck assembly is provided with a cutting blade. The mowing motor is connected with the cutting blade to drive the cutting blade to rotate for mowing. The mowing motor is mounted on the frame. The storage platform is arranged on the frame. The mower further includes a walking motor. The walking motor drives a movement of the walking wheels, so that the mower may walk.
In an embodiment of the disclosure, the mower further includes the walking motor, a battery assembly and a controller. The walking motor drives the walking wheel to move, thereby realizing a walking of the mower. The battery assembly is electrically connected with the mowing motor, the walking motor and the controller respectively, and the controller is further electrically connected with the walking motor and the mowing motor respectively.
In an embodiment of the disclosure, the mower is a riding mower, the frame is provided with the driving seat, the storage platform is mounted at a tail of the frame, and the tail of the frame is provided with the storage cavity. An opening of the storage cavity is facing upward, and the storage platform is located at the opening of the storage cavity. The storage platform and the storage cavity form an upper and lower two-layer storage structure, the storage platform is used to place items with larger volume or shape, such as ropes, buckets, etc.; the storage cavity is used to accommodate some small items, such as mobile phones, power banks, pads, etc.
In an embodiment of the disclosure, a cushion block is arranged on an opening edge of the storage cavity. A function of the cushion block is to separate a casing of the storage cavity and the storage platform. The mower will cause a vibration of the storage platform in a process of mowing, and the cushion block can effectively prevent the storage platform from causing wear to an edge of the storage cavity by arranging the cushion block between the storage platform and the storage cavity.
In an embodiment of the disclosure, a boss is arranged at a position corresponding to the cushion block of the storage platform, and the boss protrudes towards the cushion block. The boss and the cushion block can effectively increase a height of the storage cavity, thereby increasing an accommodating space of the storage cavity.
In an embodiment of the disclosure, the storage platform is rotatably mounted at the tail of the frame and is located behind the driving seat. A rotatable mounting allows the storage platform to be lifted from a top of the storage cavity, enable it to be easier to pick up and place items in the storage cavity.
In an embodiment of the disclosure, a supporting bracket is arranged on the tail of the frame, and the storage platform is rotatably mounted on the supporting bracket. A connecting component is arranged between the supporting bracket and the storage platform, a first end of the connecting component is mounted on the supporting bracket, and a second end of the connecting component is mounted on the storage platform. The supporting bracket is provided with a pin hole, and the first mounting hole is correspondingly arranged on the storage platform. A pin bolt passes through the pin hole and the first mounting hole, so that the storage platform is rotatably connected with the supporting bracket.
In an embodiment of the disclosure, the supporting bracket includes a supporting rod and the second mounting frame. The frame is provided with an inserting groove, the supporting rod is inserted into the inserting groove, and the second mounting frame is arranged at an end part of the supporting rod. The supporting rod is connected with the second mounting frame by bolt. A first end of the second mounting frame is connected with the supporting rod, and a second end of the second mounting frame is connected with an anti-roll frame. The pin hole is arranged on the supporting rod.
In an embodiment of the disclosure, the supporting bracket is further provided with the connecting hole, and a second mounting hole is arranged on the storage platform. A first end of the connecting component is mounted on the connecting hole, and a second end of the connecting component is mounted on the second mounting hole. A main function of the connecting component is to enhance a load-bearing capacity of the storage platform, and in addition, the connecting component also has a limiting function.
In an embodiment of the disclosure, the connecting component is a rope, and the rope may be directly mounted in the connecting hole and the second mounting hole. But in order to avoid a wear and tear to the rope caused by the connecting hole or the second mounting hole, the pin bolt or the bolt is mounted in the connecting hole and the second mounting hole respectively, and an end of the rope is provided with a ring buckle, and the ring buckle is mounted on the pin bolt or the bolt, so that the wear to the rope can be effectively reduced.
In an embodiment of the disclosure, the storage platform is provided with a flange, the flange is located on a rear edge of the storage platform, and the flange can effectively increase a strength of the storage platform and the load-bearing capacity of the storage platform.
In an embodiment of the disclosure, a plurality of friction protrusions is arranged on the storage platform. A center part of each friction protrusion is provided with a through hole, and the through hole is mainly set up for two purposes: firstly, it can effectively reduce a weight of a storage board, and secondly, the through hole can play a role of ventilation in order to maintain a dryness of the storage cavity.
In an embodiment of the disclosure, the mower further includes the casing mounted on the frame, the casing is provided with a cup groove, which is located next to the driving seat. The casing is further provided with a port, and an upper part of the port is covered with a dust-proof cover, and the dust-proof cover is mounted on the casing through a torsion spring. The dust-proof cover can effectively protect the port. The port may be a USB port, a type-c port and a micro port and so on.
In an embodiment of the disclosure, the casing is provided with the operating device, the operating device is provided with an operating key, and the operating key is used to realize an operation of the mower, such as a speed or a light of the mower, etc. The operating device is further provided with a display screen. The display screen is tilted arranged.
In an embodiment of the disclosure, the driving seat is provided with a seat belt and a seat belt buckle, and the seat belt and the seat belt buckle are respectively located on two sides of the driving seat. Seat belts can ensure a safety of the staff. The two sides of the driving seat are provided with an armrest, and the armrests are provided with a cushion to increase comfort.
In an embodiment of the disclosure, the walking wheel includes the front wheel assembly and the rear wheel assembly, the front wheel assembly is a universal wheel, and the rear wheel assembly is driven by the walking motor. A radius of the front wheel assembly is less than a radius of the rear wheel assembly. The large radius of the rear wheel assembly ensures that the mower has enough horsepower.
In an embodiment of the disclosure, a lawn outlet of the cutting deck assembly is provided with the lawn discharging cover, and two sides of the lawn discharging cover are provided with a flange that bends downward. A function of the lawn discharging cover is to drain lawn clippings at the lawn outlet, and the flange on both sides of the lawn discharging cover can effectively prevent the lawn clippings from flying during a discharging process.
In an embodiment of the disclosure, the lawn discharging cover is rotatably mounted on the frame, and the torsion spring is arranged between the frame and the lawn discharging cover. The lawn clippings carry moisture and may easily stick to an inside of the lawn discharging cover, so when it is necessary to clean the inside of the lawn discharging cover, the lawn discharging cover needs to be turned over and cleaned. After cleaning, the lawn discharging cover is reset under an action of the torsion spring.
In an embodiment of the disclosure, the lawn discharging cover is mounted on the frame by two mounting plates. A plurality of bolts are arranged between the two mounting plates, the lawn discharging cover is positioned between the two mounting plates, and the two mounting plates are rotatably mounted on the frame.
In an embodiment of the disclosure, the mower is a standing mower, the storage platform is arranged in a middle part of the frame, the storage platform is provided with the connecting plate, and the connecting plate is connected with the frame. The connecting plate can effectively increase a firmness of the storage platform.
In an embodiment of the disclosure, three flanges are arranged on the storage platform. The three flanges enclose the storage platform into a frame body with one side opening, which enables it to be easy to store things and increase the strength of the storage platform. The storage platform is provided with the friction protrusion, the friction protrusion protrudes upward, and a through hole is arranged in the friction protrusion. The through holes can reduce the weight of the entire storage platform and facilitate heat dissipation for electrical equipment (e.g., motors, control panels, batteries, etc.) below the storage platform.
In an embodiment of the disclosure, the casing is mounted on the frame. The driving seat is mounted on the frame. The battery is mounted on the frame and located inside the casing, and at least part of the battery is located below the driving seat. The controller is electrically connected with the battery and the electrical equipment of the mower respectively, and the controller is mounted inside the casing and located at a tail of the casing.
In an embodiment of the disclosure, the casing includes a first housing, the first housing encloses an inner cavity at the tail of the frame, the controller is located in the inner cavity, and the inner cavity is opened upwards to take and place the controller. The inner cavity is located under a rear and lower part of the driving seat, and the controller can be mounted and disassembled through an upward opening of the inner cavity, thus facilitating maintenance.
In an embodiment of the disclosure, the tail of the casing is concave inward to define a concave area. The casing further includes a tail cover, and the tail cover is detachably mounted in the concave area. The concave area can form a mounting space to mount the tail cover, so that an outer surface of the tail cover fits to upper and lower edges of the concave area to maintain aesthetics. At the same time, the tail cover can also play a protective role in the first housing. In addition, product identification information, such as product identifications or product labels, may also be set on the tail cover.
In an embodiment of the disclosure, the first housing is provided with the cup groove, which is located next to the driving seat. The casing is further provided with the port, and an upper part of the port is covered with the dust-proof cover, and the dust-proof cover is mounted on the housing through the torsion spring. The dust-proof cover can effectively protect the port. The port may be the USB port, the type-c port and the micro port and so on.
In an embodiment of the disclosure, the first housing is provided with an operating deck, the operating deck is provided with the operating key, and the operating key is used to realize the operation of the mower, such as the speed or the light of the mower, etc. The operating deck is further provided with the display screen. The display screen is tilted arranged.
In an embodiment of the disclosure, the driving seat is provided with the seat belt and the seat belt buckle, and the seat belt and the seat belt buckle are respectively located on the two sides of the driving seat. The seat belt can ensure the safety of the staff. The two sides of the driving seat are provided with the armrest, and the armrests are provided with the cushion to increase comfort.
In an embodiment of the disclosure, the walking wheel includes the front wheel assembly and the rear wheel assembly, the front wheel assembly is a universal wheel, and the rear wheel assembly is driven by the walking motor. The radius of the front wheel assembly is less than the radius of the rear wheel assembly. The large radius of the rear wheel assembly ensures that the mower has enough horsepower.
In an embodiment of the disclosure, the lawn outlet of the cutting deck assembly is provided with the lawn discharging cover, and the two sides of the lawn discharging cover are provided with the flange that bends downward. The function of the lawn discharging cover is to drain lawn clippings at the lawn outlet, and the flange on both sides of the lawn discharging cover can effectively prevent the lawn clippings from flying during the discharging process.
In an embodiment of the disclosure, the lawn discharging cover is rotatably mounted on the frame, and the torsion spring is arranged between the frame and the lawn discharging cover. The lawn clippings carry moisture and may easily stick to the inside of the lawn discharging cover, so when it is necessary to clean the inside of the lawn discharging cover, the lawn discharging cover needs to be turned over and cleaned. After cleaning, the lawn discharging cover is reset under the action of the torsion spring.
In an embodiment of the disclosure, the lawn discharging cover is mounted on the frame by two mounting plates. The plurality of bolts are arranged between the two mounting plates, the lawn discharging cover is positioned between the two mounting plates, and the two mounting plates are rotatably mounted on the frame.
In an embodiment of the disclosure, the casing includes a second housing, and the second housing is arranged on the first housing and covers the opening. The second housing can be removed from the first housing. The second housing can effectively protect the controller located in the inner cavity and play a role of dustproof, sunproof and anti-shower. When it is necessary to repair the controller, the second housing may be removed and the controller may be taken out from the inner cavity, thereby increasing a convenience of a maintenance process.
In an embodiment of the disclosure, the second housing is provided with the storage cavity. The storage cavity is an opening cavity that is concave towards the inner cavity and opens upwards. The storage cavity can accommodate small items such as mobile phones, wallets, keys, etc., which are always carried by the operator.
In an embodiment of the disclosure, the supporting bracket is arranged on the tail of the frame, and the storage platform is rotatably mounted on the supporting bracket. The connecting component is arranged between the supporting bracket and the storage platform, the first end of the connecting component is mounted on the supporting bracket, and the second end of the connecting component is mounted on the storage platform. The supporting bracket is provided with the pin hole, and the first mounting hole is correspondingly arranged on the storage platform. The pin bolt passes through the pin hole and the first mounting hole, so that the storage platform is rotatably connected with the supporting bracket. The storage platform is located above the storage cavity, and the two form two layers of storage space, where the storage platform is used to place large items and the storage cavity is used to place small items. During maintenance, the storage platform is lifted up and the second housing is removed, and the controller may be maintained.
In an embodiment of the disclosure, the first mounting frame is mounted in the casing, and the controller is mounted on the first mounting frame. The first mounting frame is detachably mounted at an inner side of the first housing and is located in the inner cavity, and the controller is detachably mounted on the first mounting frame. The controller is mounted on the first mounting frame, which can increase a firmness of a control and prevent the controller from loosening due to bumps or vibrations during mowing. The controller adopts a detachable mounting to facilitate a removal of the controller during later maintenance, so that a maintenance personnel may maintain the controller outside a machine body, thus increasing an operating space and reducing a difficulty of the maintenance. In addition, a removable mounting enables it to be easy to replace the controller, which increases a duration life of other parts of the mower.
In an embodiment of the disclosure, the first mounting frame is provided with a bracket. The bracket is detachably mounted on the first mounting frame. The bracket is used to mount the second housing so that the second housing is clamped onto the first housing. A detachable mounting method of the bracket facilitates a transportation before the machine body is assembled, and can reduce processing costs, while also facilitating a replacement and reducing maintenance costs.
In an embodiment of the disclosure, the first mounting frame further includes the supporting plate. The supporting plate is mounted on the frame and is located inside the casing, the battery and the controller are respectively located on two sides of the supporting plate, and the second housing is located above the supporting plate. A function of the supporting plate is to support the second housing on one hand, and to protect the controller located in the inner cavity on the other hand.
In an embodiment of the disclosure, the tail of the casing is provided with a tail light. The tail light is a strip light that are laid at the tail of the casing and located at an edge of the second housing. The tail light can be lit according to a control command of the controller to show a working condition of the mower.
In an embodiment of the disclosure, the mower includes the machine body, a cutting system, a walking system, an operating system and a display system. The cutting system is mounted on the machine body and includes at least one cutter and cutter driving device for mowing. The walking system is mounted on the machine body and includes the walking wheel and a walking wheel driving device that are used for enable the mower to move. The operating system is mounted on the machine body and includes the operating device for controlling the mower, and the operating device is provided with a speed regulation key. The display system is arranged on the machine body and includes identification information for displaying a walking speed and a cutting speed, and the identification information includes: a speed regulation identification. The walking speed or the cutting speed can be set by the speed regulation key or the speed regulating identification.
In an embodiment of the disclosure, the mower further includes a recording system, an energy supply system and a monitoring system. The recording system includes a memory that is used for recording fault information of the mower and corresponding fault handling measures, warning information and stage mowing information. The energy supply system includes at least one battery pack. The monitoring system is used for monitoring a state about the cutting system, the walking system, the operating system, the recording system and the energy supply system.
In an embodiment of the disclosure, the display system is further used to display an external tool state. The external tool state includes whether the external tool is turned on or off. The mower further includes a port to connect the external tool, and the monitoring system is further used to control whether to start the external tool when it is detected.
In an embodiment of the disclosure, the operating system further includes the operating handle for operating and controlling the walking system of mowing. The operating handle is rotatably mounted on the machine body, and a rotation angle of the operating handle is positively correlated with the walking speed. The speed regulation key is located at an end part of the controller. The speed and the rotation angle of the mower can be operated and controlled by the operating handle.
In an embodiment of the disclosure, the operating system includes two operating handles, each operating handle is respectively provided with the speed regulation key, and the speed regulation key is mounted at an end part of the corresponding operating handle.
In an embodiment of the disclosure, the operating system further includes a communication system. The monitoring system is electrically connected with the communication system and the display system respectively.
The display system includes the display screen. The display screen is arranged on the machine body. The display screen is used to display identification information of the walking speed and a working speed, and the identification information includes the speed regulation identification, and the walking speed or the working speed of the machine body can be set through the speed regulation identification.
In an embodiment of the disclosure, the display screen includes a state display area and a working display area, the state display area is used for displaying state information, the working display area is used for displaying working information, and the working information includes the identification information.
In an embodiment of the disclosure, the state information includes at least one of an operator in-position state, a closing state and releasing state of an electromagnetic brake, time in a current time zone, a cellular signal state, a remote control state, a lighting device state, an alarm light state, and a project name. The project name may be a name of an item in working information. For example, the project name may be light, setting, stage working information, and so on.
In an embodiment of the disclosure, the working information includes a fault reminding, the fault reminding includes the fault information and the corresponding fault handling measures, and the fault information includes a fault code and corresponding fault details.
In an embodiment of the disclosure, the working information further includes the stage working information, which includes: a working area, a working duration, and an average speed.
In an embodiment of the disclosure, the working information further includes pause reminding information, and the pause reminding information includes a pause duration.
In an embodiment of the disclosure, the mower includes the machine body, the walking wheel, the cutting deck assembly, the cutting motor, the controller and a light group. The machine body includes the frame. The walking wheel is rotatably mounted on the frame. The cutting deck assembly is arranged on the frame. The cutting deck assembly is provided the cutting blade. The cutting motor is arranged on the frame and is connected with the cutting blade. The controller is arranged inside the machine body and is electrically connected with the cutting motor. The light group is arranged on the machine body, electrically connected with the controller, and lit according to a preset lighting method under a control of the controller. The light group has at least one lighting method, and the lighting method of the light group corresponds to a state of the mower. For example, the state of the mower corresponding to the different lighting method of the light group is different, and in a certain embodiment, the lighting method of the light group corresponds to the state of the mower one-to-one.
In an embodiment of the disclosure, the mower further includes a functional assembly and an operating assembly. An energy supply assembly includes the battery pack to supply energy to the mower. The operating assembly includes an operating panel and the operating keys arranged on the operating panel to realize an operating and controlling of the mower. The mower further includes the walking motor. The walking motor drives the walking wheels to roll to allow the mower to move as controlled.
In an embodiment of the disclosure, the light group includes at least one of a headlight, a side light, a dome light or a tail light.
In an embodiment of the disclosure, the headlight, the side light or the dome light is a white light. The headlight, the side light or the dome light includes a light cover and a light bead arranged inside the light cover, and the light cover of the headlight, the side light or the dome light emits a white light with the light beads. For example, the light bead is white, and the light cover is transparent.
In an embodiment of the disclosure, the tail light is a red light, the tail light includes a tail light cover and a tail light bead arranged inside the tail light cover, and the tail light cover and the lamp bead of the tail light cooperate with each other to emit a red light externally. For example, the tail light cover is red, and the tail light bead is white or red.
In an embodiment of the disclosure, the mower is a riding mower, and the machine body further includes the casing arranged on the frame. The riding mower is provided with the anti-roll frame and the driving seat, and the headlight is arranged at the casing under the driving seat. The side lights are arranged on the casing and are respectively located at the two sides of the driving seat. The dome light is arranged on a top of the anti-roll frame, and the tail light is arranged at the tail of the casing.
In an embodiment of the disclosure, the mower is the standing mower, the headlight is arranged on a front side of the machine body, the side light is arranged on left and right directions of the front side of the machine body, the dome light is arranged on a top of the machine body, and the tail light is arranged on left and right directions of the tail of the casing.
In an embodiment of the disclosure, the state of the mower includes a charging state, a charging completion state, a low power state, a light on state, or a light off state.
In an embodiment of the disclosure, the state of the mower further includes a plurality of fault states. The fault state includes a fault element and a number of faults. For example, a right driving controller has two faults, a left cutting blade controller has two faults, etc.
In an embodiment of the disclosure, the cutting deck assembly includes the cutting deck, the motor controller and the plurality of cutting motors. The motor controller and the cutting motor are both mounted on the cutting deck, and the plurality of the cutting motors each is electrically connected with the motor controller, and controlled by the motor controller to centrally control the rotation of each cutting motor.
In an embodiment of the disclosure, the cutting deck is provided with a controller accommodating cavity for mounting the motor controller, a bottom of the controller accommodating cavity is an opening hole structure, and at least part of a lower surface of the motor controller is exposed in the opening hole structure.
In an embodiment of the disclosure, the controller accommodating cavity is provided with a controller protective cover, and a connection between the controller protective cover and the controller accommodating cavity is provided with an air inlet.
In an embodiment of the disclosure, a bottom of the motor controller is provided with a plurality of heat sinks, and the plurality of heat sinks is arranged at intervals along the lower surface of the motor controller.
In an embodiment of the disclosure, the cutting deck is provided with the controller accommodating cavity for mounting the motor controller, the motor controller is mounted in the controller accommodating cavity, and an upper surface of the motor controller is not higher than an upper surface of the cutting deck.
In an embodiment of the disclosure, the cutting deck is provided with a motor mounting hole penetrating the cutting deck, and the cutting motor passing through the motor mounting hole is fixed on the cutting deck through a flange part at an end part of the cutting motor.
In an embodiment of the disclosure, the cutting motor includes a motor end cover, a motor housing, a motor rotor and a motor stator, the motor end cover is fastened with the motor housing to form a motor cavity, and the motor rotor and the motor stator are mounted in the motor cavity.
In an embodiment of the disclosure, the motor housing includes a connecting flange, the first housing and the second housing that are connected sequentially, an outer diameter of the connecting flange is greater than a diameter of the motor mounting hole, and an outer diameter of the first housing and the second housing is less than or equal to the diameter of the motor mounting hole.
In an embodiment of the disclosure, the motor end cover is provided with a first bearing mounting base, and the first bearing mounting base is matched with a first bearing of the motor rotor. A second bearing mounting base is arranged in the second housing, and the second bearing mounting base is matched with the second bearing of the motor rotor.
In an embodiment of the disclosure, a connection between the first housing and the second housing protrudes inward along a radial direction to form a stator supporting step, and the motor stator is arranged on the stator supporting step.
In an embodiment of the disclosure, the connecting flange includes a plurality of first connecting parts and a plurality of second connecting parts, and the first connecting part protrudes from the second connecting part along the radial direction. A plurality of first connecting parts and the plurality of second connecting parts are arranged at intervals and are connected sequentially along a circumferential direction of the first housing to form the connecting flange. The first connecting part is used for being connected with the motor end cover and the cutting deck.
In an embodiment of the disclosure, the motor end cover includes an end cover body and an end cover flange. The end cover flange is matched with the connecting flange, a position of the end cover flange corresponding to the second connecting part is concave downward and forms a step with the second connecting part, and a position of the cutting deck corresponding to the step is provided with a ventilation hole.
In an embodiment of the disclosure, a height of the steps is from 10 mm to 12 mm.
In an embodiment of the disclosure, an outer surface of the motor housing is provided with a plurality of reinforcing ribs.
In an embodiment of the disclosure, the mower includes a mowing device, a grass collection device, the grass conveying device, the clogging detection device, and the first sensor. The grass conveying device conveys the lawn in the mowing device to the grass collection device. The clogging detection device includes the first movable component. When the grass conveying device works normally, the first movable component is in the first state. When the grass conveying device is clogged, the first movable component is in the second state. The first sensor is configured to detect a state of the first movable component.
In an embodiment of the disclosure, the grass collection device is provided with a lawn inlet that is communicated with the grass conveying device, and the first movable component is arranged on the grass collection device and is close to a position of the lawn inlet.
In an embodiment of the disclosure, the first movable component is caused to switch between the first state and the second state by an action of air flow in the grass conveying device.
In an embodiment of the disclosure, the clogging detection device further includes a fixing plate. The first sensor is arranged on the fixing plate, the first movable component is rotatably connected with the grass collection device, and the first movable component rotates relative to the grass collection device to switch between the first state and the second state.
In an embodiment of the disclosure, the fixing plate includes a first limiting part to limit a rotation range of the first movable component.
In an embodiment of the disclosure, the fixing plate includes a first arm and a second arm. A first end of the first arm is fixed on the grass collection device, and a second end of the first arm extends to form the second arm. The first sensor is fixedly mounted on the second arm, and the first limiting part is located at a free end of the second arm.
In an embodiment of the disclosure, when the first movable component is transformed from the first state to the second state, and when the first movable component is maintained in the second state for more than a preset time, the clogging detection device generates a clogging signal.
In an embodiment of the disclosure, the preset time is 3 seconds.
In an embodiment of the disclosure, the first sensor is a switch. The first movable component triggers the switch when the first movable component is in the first state. The first movable component is disconnected from the switch under an action of a gravity of the first movable component when the grass conveying device is clogged.
In an embodiment of the disclosure, the grass collection device is provided with the lawn inlet that is communicated with the grass conveying device, and the first movable component is arranged on the grass collection device and is close to the position of the lawn inlet. When the first movable piece is in the first state, the first movable component is flush with a tangent direction of a top end of the lawn inlet.
In an embodiment of the disclosure, the first movable component is arranged in the grass conveying device, and the first movable component is located at one end of the grass conveying device close to the grass collection device.
In an embodiment of the disclosure, the grass conveying device includes a fan machine and a lawn conveying tube. A first end of the lawn conveying tube is connected with the mowing device, and a second end of the lawn conveying tube is communicated with a grass collection device box, so that the fan machine can suck the lawn cut by the mowing device into the lawn conveying tube.
In an embodiment of the disclosure, the mower further includes an overfill detection device, and the overfill detection device is arranged in the grass collection device to detect a load state of the grass collection device.
In an embodiment of the disclosure, the mower further includes a control device. When the grass conveying device is clogged, the clogging detection device generates the clogging signal and sends it to the control device, and the control device controls the mower to drive to a fault repairing area from a current working position for repairing.
The disclosure further provides the mower. The mower includes the mowing device, the grass conveying device and the clogging detection device. The grass conveying device is configured to convey the lawn cut by the mowing device. The clogging detection device is configured to detect a flow parameter in the grass conveying device. When the airflow parameter is less than a preset value, the clogging detection device generates the clogging signal.
In an embodiment of the disclosure, the clogging detection device detects an air speed at an outlet of the grass conveying device.
In an embodiment of the disclosure, a preset time of the air speed is 156 M/s.
In an embodiment of the disclosure, when the air speed is more than the preset time, the clogging detection device sends the clogging signal.
The disclosure further provides the mower. The mower includes the mowing device, the grass collection device, the grass conveying device and the overfill detection device. The grass conveying device is configured to convey the lawn in the mowing device to the grass collection device. The overfill detection device detects a lawn amount state in the grass collection device. When a lawn amount reaches a threshold, the overfill detection device detects an overfill.
In an embodiment of the disclosure, the overfill detection device is mounted in the grass collection device and is close to a top position of the grass collection device.
In an embodiment of the disclosure, the overfill detection device includes at least one detection unit. When the detection unit all detects that the lawn amount in a grass collection box reaches the threshold, the overfill detection device generates an overfill signal.
In an embodiment of the disclosure, the overfill detection device includes a first detection unit, a second detection unit and a third detection unit, and the three detection units are mounted at intervals.
In an embodiment of the disclosure, the detection unit includes a second sensor and a second movable component. The second movable component has the first state and the second state. The second movable component switches between the first state and the second state under an action of the lawn in the grass collection device. When the lawn amount in the grass collection box reaches the threshold, the second movable component is in the second state.
In an embodiment of the disclosure, the detection unit further includes a mounting bracket, the second sensor is fixed on the mounting bracket, and the second movable component is rotatably connected with the mounting bracket.
In an embodiment of the disclosure, the mounting bracket is provided with a second limiting part to limit a rotation range of the second movable component.
In an embodiment of the disclosure, the second sensor is a switch. When the second movable component is in the second state, the second movable component triggers the switch. When the second movable component is in the first state, the second movable component is disconnected.
In an embodiment of the disclosure, the mower further includes a lawn unloading device, and the lawn unloading device includes an electric pushing rod. The grass collection device includes the grass collection box, and the grass collection box includes a box door. A first end of the electric pushing rod is mounted on the grass collection box, and a second end of the electric pushing rod is connected with the box door of the grass collection box to drive the box door to open or close.
In an embodiment of the disclosure, when the overfill detection device generates the overfill signal, the electric pushing rod drives the box door to open.
In an embodiment of the disclosure, the mower further includes the clogging detection device, the lawn inlet is arranged at a connection of the grass collection device and the grass conveying device, and the clogging detection device is arranged on the grass collection device and is close to the lawn inlet.
In an embodiment of the disclosure, the mower further includes a control device. When the grass conveying device is clogged, the clogging detection device generates the clogging signal and sends it to the control device, and the control device controls the mower to drive to a fault repairing area from a current working position for repairing.
The disclosure further provides the mower. The mower includes the mowing device, the grass collection device, the grass conveying device and the clogging detection device. The grass conveying device is configured to convey the lawn in the mowing device to the grass collection device. The clogging detection device is arranged on the grass collection device, close to a position of the grass collection device connected with the grass conveying device, and used for detecting whether the grass conveying device is clogged.
The overfill detection device is mounted in the grass collection device to detect the load state of the grass collection device.
In an embodiment of the disclosure, the mower further includes a control device. When the grass conveying device is clogged, the clogging detection device generates the clogging signal and sends it to the control device, and the control device controls the mower to drive to a fault repairing area from a current working position for repairing.
When the grass collection device is full, the overfill detection device generates an overfill signal and sends it to the control device, and the control device controls the mower to move from the current working position to the lawn discharging area to unload the lawn.
In an embodiment of the disclosure, the mower includes the driving motor. The driving motor includes a motor casing and a driving motor winding. The driving motor winding is arranged in the motor casing, and the motor casing is provided with at least one reinforcing connecting body. The motor casing and the reinforcing connecting body are made of different materials respectively, and a material strength of the reinforcing connecting body is greater than a material strength of the motor casing. The reinforcing connecting body is provided with a threaded hole for a threaded connection with a reducer.
In an embodiment of the disclosure, the reinforcing connecting body is detachably fixed on the motor casing.
In an embodiment of the disclosure, the reinforcing connecting body is embedded and cast inside the motor casing.
In an embodiment of the disclosure, the motor casing is provided with one reinforcing connecting body, and the reinforcing connecting body is provided with at least two threaded holes for the threaded connection with the reducer connecting component.
In an embodiment of the disclosure, the motor casing is provided with at least two reinforcing connecting bodies, and each reinforcing connecting body is provided with the threaded holes for the threaded connection with the reducer connecting component.
In an embodiment of the disclosure, a first circumferential stopping structure is arranged between the reinforcing connecting body and the motor casing.
In an embodiment of the disclosure, the first circumferential stopping structure includes a plurality of first protruding parts and a plurality of first concave parts corresponding to the plurality of first protruding parts. The plurality of the first protruding parts are arranged on one of the reinforcing connecting body and/or the motor casing, and the plurality of first concave parts is correspondingly arranged on the other one of the reinforcing connecting body and/or the motor casing.
In an embodiment of the disclosure, the mower includes a walking driving mechanism. The walking driving mechanism includes the driving motor, the reducer and a sealing structure. The reducer is coaxially connected with the driving motor, and the sealing structure is arranged at a connecting position of the driving motor and the reducer, and a sealing fit is formed between the driving motor and the reducer.
In an embodiment of the disclosure, the sealing structure includes a first sealing component, and the first sealing component is coaxially sleeved on the driving motor and/or the reducer.
In an embodiment of the disclosure, the first sealing component is a first sealing ring, and the first sealing ring is provided with a first elastic structure. The first elastic structure is arranged on one surface of the sealing ring facing the reducer along the circumferential direction, and the first elastic structure is interference abutted on an end face of the reducer, and forms a sealing with the end face through a friction matching.
In an embodiment of the disclosure, the sealing structure further includes a second sealing component, the second sealing component is coaxially arranged on the reducer, and a radial plane of the second sealing component at a connection position is arranged opposite to the first sealing component.
In an embodiment of the disclosure, the first sealing component is a second sealing ring, and the second sealing ring is provided with a second elastic structure along an outer edge of the circumferential direction. The second sealing component is provided with a lip edge along the circumferential direction, the lip edge is located at the circumferential outer side of the second sealing ring, and the second elastic structure is interference abutted on an inner wall of the lip edge along the circumferential direction, and is matched with the lip edge to form the sealing through the friction matching.
In an embodiment of the disclosure, the first sealing component is provided with a first deck surface, and the second sealing component is provided with a second deck surface. The first deck surface and the second deck surface are arranged relative to each other at a radial plane, and a gap is left between the first deck surface and the second deck surface.
In an embodiment of the disclosure, a length of the gap is from 1 mm to 3 mm.
In an embodiment of the disclosure, the second sealing component is provided with a first flange along an outer edge of a circumferential direction of the first deck surface, and the outer edge of the circumferential direction of the first sealing component is relatively matched with the first flange to form the sealing.
In an embodiment of the disclosure, the first sealing component is provided with a second flange along an inner edge of the circumferential direction of the second deck surface. The second flange extends toward one side of the reducer, and the first deck surface is provided with a sealing groove matched with the second flange. The second flange is embedded in the sealing groove, and the second flange is matched with the sealing groove to form the seal.
Beneficial effects of some embodiments of the disclosure are that:
the conventional mower frame has an integrated structure, the wheelbase of the front wheel and rear wheel is fixed, and the cutting deck assembly mounted at the bottom of the frame cannot be replaced with a suitable specification according to a working environment because of the limited wheelbase; the frame of the disclosure is a separating type frame, the front frame and the rear frame are detachable and fixedly mounted, the cutting deck assembly of different specifications corresponds to the front frame of different specifications, the front wheel assembly is mounted on the front frame, when the cutting deck assembly needs to be replaced to meet the use requirements, the front frame and the rear frame of appropriate specifications are first selected to be fixed, so that the cutting deck assembly is guaranteed to have a suitable mounting size, and then the cutting deck assembly that needs to be replaced is mounted on the frame, so that the suitable cutting deck assembly may be replaced in different working environments, which meets the use requirements of a variety of environments. The suitable cutting deck assembly of the disclosure and the front frame may also be in a relative connecting state at all times, on one hand, it reduces time of finding components, on the other hand, it saves an assembly process and improves replacement efficiency.
In order to explain technical solutions of embodiments of the disclosure more clearly, the following will briefly introduce drawings used in a description of the embodiments or the conventional art. Obviously, the drawings in the following description are only some embodiments of the disclosure. For those of ordinary skill in the art, other drawings may be obtained based on these drawings without creative work.
1—mower; 10—machine body; 100—frame; 101—casing; 1010—first housing; 1011—inner cavity; 1012—concave area; 1013—tail cover; 1020—second housing; 110—front frame; 111—first cross beam; 112—first connecting part; 113—assembling tube; 114—first clamping board; 115—second clamping board; 116—first through hole; 117—penetrating groove; 118—wheel protective board; 119—accessory connecting part; 120—rear frame; 121—square tube; 122—connecting bolt; 123—first placing area; 1231—first mounting hole; 1232—battery protective board; 124—second rotation connecting hole; 125—first rotation connecting hole; 130—anti-collision device; 140—inserting groove; 1400—light group; 1410—headlight; 1420—side light; 1430—dome light; 1440—tail light; 150—supporting bracket; 151—supporting rod; 152—pin hole; 153—connecting hole; 154—connecting component; 1600—monitoring system; 1601—external tool state; 1602—battery power; 1603—operator in-position state; 1604—closing state and releasing state of electromagnetic brake; 1605—time in current time zone; 1606—unit conversion; 1607—cellular signal state; 1608—remote control state; 1609—lighting device state; 1610—alarm light state; 1611—device energy consumption state; 1612—device use time; 1613—fault reminding; 1614—detailed fault code; 1615—advice of fault handling measure; 1616—stage working information; 1620—identification information; 1621—speed gear of the walking system; 1622—speed gear of the cutting system; 1623—walking speed regulation identification; 1624—cutting speed regulation identification; 1630—device parameter; 1631—screen brightness; 1700—display system; 1711—state display area; 1712—working display area; 1713—interface switching key; 1714—communication system; 1811—radio unit; 1812—GNSS receiving antenna; 1813—wireless antenna; 240—controller; 1814—positioning device; 1815—autonomous controller; 1816—4G-GPS module; 1817—remote control signal receiving unit; 1818—communication device; 1819—standing frame; 1820—RTK base station; terminal control device (APP (iPad) 3; 1840—server; 185—lawn to be calibrated (area to be calibrated); 1850—boundary of mowing area (plot to be calibrated); 1855—non-mowing area (obstacle); 1856—non-mowing area (obstacle);
200—walking mechanism; 201—walking wheel; 2010—cutting system; 2020—walking system; 200—walking mechanism; 201—walking wheel; 2030—operating system; 12031—cutting switch; 0233—main switch; 1330—operating rod; 231—operating handle; 2040—recording system; 210—front wheel assembly; 2100—steering wheel; 2101—first front wheel; 2102—second front wheel; 220—rear wheel assembly; 2200—driving wheel; 221—braking plate; 2211—first notch; 222—manual releasing part; 2221—releasing protrusion; 230—operating device; 2301—operating deck; 231—operating handle; 2311—walking speed regulation key; 232—display screen; 233—main control switch; 240—controller; 241—first mounting frame; 242—bracket; 243—supporting plate;
300—cutting deck assembly; 310—cutting deck; 311—motor mounting hole; 3111—first hole; 3112—second hole; 312—ventilation hole; 313—pedal pad; 314—connecting base; 320—cutting part; 321—cutting motor; 3211—motor end cover; 32111—first bearing mounting base; 32112—end cover body; 32113—end cover flange; 321131—first flange part; 321132—second flange part; 32114—step; 32115—wiring outlet; 3212—motor housing; 32121—second bearing mounting base; 32122—connecting flange; 321221—first connecting part; 321222—second connecting part; 321223—circumferential protrusion; 321224—arc-shaped protrusion; 32123—first housing; 32124—second housing; 321241—reinforcing rib; 3213—motor rotor; 32131—first bearing; 32132—second bearing; 3214—motor stator; 32141—stator supporting step; 3215—connecting wiring; 322—cutting blade; 3221—first cutting blade; 3222—second cutting blade; 3223—lawn pushing part; 323—motor controller; 324—controller accommodating cavity; 3240—controller protective cover; 3241—cover board; 3242—connecting plate; 3243—air inlet; 325; heat sink; 330—cutting baffle; 331—edge blocking board; 332—middle blocking board; 333—lawn discharging blocking board; 334—accommodating cavity; 340—lawn discharging port; 341—lawn discharging cover; 342—mounting plate; 343—torsion spring; 350—height adjustment device; 3501—front height adjustment component; 351—first connecting rod; 352—second connecting rod; 353—third connecting rod; 354—pedal rod; 3541—pedal mounting hole; 355—fourth connecting rod; 356—fifth connecting rod; 357—first connecting plate; 360—locking device; 361—blocking plate; 362—limiting board; 3621—limiting hole; 3622—clamping hole; 363—limiting rod; 364—blocking step; 370—self-locking mechanism; 371—self-locking rod; 372—self-locking component; 373—self-locking groove; 374—holding part; 375—protrusion; 376—bent part; 380—roller; 390—shock absorbing device; 400—anti-roll frame; 401—first side arm; 402—connecting body; 403—second side arm; 404—protective body; 405—lighting assembly; 406—tail light; 410—anti-loss pulling structure; 411—second mounting frame; 412—pulling wire; 413—anti-loosening locking body; 414—shock absorbing block; 415—bolt assembly; 4151—gasket; 416—locking pin; 4111—first locking hole; 4112—second locking hole; 420—storage groove; 500—driving seat; 501—seat belt; 502—seat belt buckle; 503—armrest; 510—pedal area; 520—placing frame; 521—cup groove; 522—dust-proof cover; 6105—lawn collection system control device; 6106—auto driving control system; 300—cutting deck assembly; 620—fan machine; 6210—fan machine controller; 625—lawn conveying tube; 630—grass collection box; 631—first side wall; 632—lawn inlet; 633—front wall; 634—second side wall; 6340—framework; 635—swing arm; 636—box door; 6360—framework; 637—top wall; 638—bottom wall; 640—clogging detection device; 641—bolt; 642—screw; 643—washer; 644—nut; 645—first movable component; 646—first sensor/first switch; 647—fixing plate; 6470—first arm; 6471—second arm; 6472—limiting part; 648—mounting post; 650—overfill detection device; 6501—first detection unit; 6502—second detection unit; 6503—third detection unit; 651—nut; 652—flat washer; 653—opening pin; 654—bolt; 655—second movable component; 656—second sensor/second switch; 6560—triggering piece; 6562—triggering head; 657—screw; 658—mounting bracket; 6580—mounting bracket part; 6581—first part; 6582—second part; 6583—third part; 6584—mounting part; 659—long axis pin; 660—auto lawn unloading device; 661—bolt; 662—nut; 663—electric pushing rod; 664—bolt; 665—nut; 6A—current working position; 6B—current working position; 6P—detection and repairing point; 6M—lawn discharging point; 700—driving device; 7110—driving motor; 7111—motor casing; 71111—first concave part; 71112—stopping disc mounting hole; 71113—connecting sleeve mounting through hole; 71114—block; 7112—reinforcing connecting body; 71121—threaded hole; 71122—first protruding part; 711221—axial protrusion; 711222—annular protrusion; 71123—connecting sleeve; 71124—shaft hole; 71125—positioning boss; 71126—blocking edge; 7113—first torque output end; 71131—first sun gear; 7114—elastic blocking ring; 7115—compressing plate; 7116—compressing bolt; 7120—reducer; 7121—first gear system; 71211—fixing base; 71212—second planetary gear; 7122—second torque output end; 71221—first inner tooth ring; 71222—second inner tooth ring; 7123—second gear system; 71231—first planetary gear bracket; 71232—first planetary gear; 71233—second sun gear; 7130—connecting bolt; 710—charging port cover; 8110—first groove; 8120—second protrusion; 8200—reducer; 8210—outer tooth ring; 8211—outer tooth ring end surface; 8300—first sealing component; 8310—first sealing ring; 8311—first elastic structure; 8312—first protrusion; 8313—second groove; 8320—second sealing ring; 8321—third groove; 8322—second elastic structure; 8330—end surface pressing plate; 8331—first deck surface; 8332—second flange; 8400—second sealing component; 8410—oil sealing; 8411—tightening steel ring; 8412—lip edge; 8420—rotating frame; 8421—second deck surface; 8422—first flange; 8423—sealing groove; 8500—clamping hood; 800—battery; 810—control assembly; 820—cavity body; 900—storage device; 910—storage platform; 911—boss; 912—flange; 913—friction protrusion; 914—first mounting hole; 915—second mounting hole; 916—connecting plate; 920—storage cavity; 921—cushion block.
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When an embodiment gives a range of values, it should be understood that, unless otherwise specified in the disclosure, two endpoints of each range of values and any one of the values between the two endpoints may be selected. Unless otherwise defined, all technical and scientific terms used in the disclosure and the prior art mastered by a person skilled in the art and a description of the disclosure may also be realized by using any method, equipment and material similar to or equivalent to the prior art described in the embodiments of the disclosure.
It should be noted that terms “upper”, “lower”, “left”, “right”, “middle” and “one” quoted in this specification are only for a convenience of description, and are not used to limit a scope of the disclosure.
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In an embodiment, after the cutting deck 310 is assembled on the mower, the cutting deck 310 is located between the front wheel and the rear wheel. A closest distance between the cutting deck 310 and the front wheel is from 10 mm to 60 mm, and a closest distance between the cutting deck 310 and the rear wheel is from 10 mm to 60 mm. The cutting deck 310 keeps a suitable distance from both of the front wheel and the rear wheel. On one hand, it is convenient for the cutting deck 310 to adjust a height, on the other hand, in a harsh working environment such as bumps, the cutting deck 310 will produce a slight front and rear shaking. Keeping a certain distance from the front wheel and the rear wheel avoids a collision between the cutting deck 310 and the front wheel, and between the cutting deck 310 and the rear wheel, and reduces a risk of a damage to the mower.
Please refer to
In an embodiment, the first cross beam 111 of the front frame 110 is provided with a headlight. In some embodiments, the first cross beam 111 is provided with a penetrating groove 117, the headlight is assembled on a back of the first cross beam 111, the headlight is partially clamped in the penetrating groove 117, and light from the headlight illuminates or transmits a signal. In an embodiment, a front side of the first cross beam 111 is provided with a concavity, and the penetrating groove 117 is arranged in the concavity. The headlight is arranged in the penetrating groove 117 of the concavity, and when encountering the obstacle or a collision, the first cross beam 111 may protect the headlight and avoid a direct collision and a damage to the headlight.
Please refer to
When the cutting deck 310 of different specifications needs to be replaced, the front frame 110 needs to be replaced in advance. If parts of the mower that do not need to be replaced are mounted on the front frame 110, a workload of disassembly and assembly is inevitably increased. In an embodiment of the disclosure, most parts of the mower are mower on the rear frame 120, such as a battery, a control system, a driving seat 500 or a standing area, etc.
Please refer to
Please refer to
In an embodiment, the cutting deck assembly 300 is mounted at a bottom of the frame 100, and a lawn of suitable height is obtained through mowing the lawn by the cutting deck assembly 300. In an embodiment, the cutting deck assembly 300 includes a cutting deck 310, a cutting part 320, a height adjustment device 350 and a locking device 360. The height adjustment device 350 is used for adjusting a distance between the cutting deck assembly 300 and the ground as a whole, and the locking device 360 is used for locking the distance between the whole of the cutting deck assembly 300 and the ground. In an embodiment, the cutting part 320 includes a cutting blade 322 and a cutting motor 321. One cutting motor 321 may drive one cutting blade 322 to rotate, and it may also drive a plurality of cutting blades to rotate through a transmission mechanism.
Please refer to
Please refer to
In an embodiment, the first connecting rod 351 is rotatably connected with the frame 100 through the rotating shaft, and an axis of the rotating shaft of the first connecting rod 351 and the frame 100 is a first axis. The second connecting rod 352 is rotatably connected with the frame 100 through the rotating shaft, and an axis of the rotating shaft of the second connecting rod 352 and the frame 100 is a second axis. A connecting line of the first axis and the second axis is a first line segment, and the first line segment is perpendicular to the first axis and the second axis respectively. The connecting rod 351 is rotatably connected with the third connecting rod 353 through the rotating shaft, and an axis of the rotating shaft of the first connecting rod 351 and the third connecting rod 353 is a third axis. The second connecting rod 352 is rotatably connected with the third connecting rod 353 through the rotating shaft, and an axis of the rotating shaft of the second connecting rod 352 and the third connecting rod 353 is a fourth axis. A connecting line of the third axis and the fourth axis is a second line segment, and the second line segment is perpendicular to the third axis and the fourth axis respectively. The first connecting rod 351 is rotatably connected with the cutting deck 310 through the rotating shaft, and an axis of the rotating shaft of the first connecting rod 351 and the cutting deck 310 is a fifth axis. The second connecting rod 352 is rotatably connected with the cutting deck 310 through the rotating shaft, and an axis of the rotating shaft of the second connecting rod 352 and the cutting deck 310 is a sixth axis. A connecting line of the fifth axis and the sixth axis is a third line segment, and the third line segment is perpendicular to the fifth axis and the sixth axis respectively. The first line segment, the second line segment, and the third line segment are parallel and equal in length, so that in a lifting process, the cutting deck 310 is always at a level, and the cutting blade 322 is horizontal, so as to obtain a good mowing effect.
Please refer to
In some embodiment, a surface of the foot pedal rod 354 is provided with an anti-slip structure, such as the surface is provided with anti-skid lines, sleeved with of an anti-slip pad, etc., and a suitable anti-slip structure is selected according to an actual situation, which is not repeated in this disclosure.
Please refer to
In an embodiment, in order to facilitate a lifting operation of the cutting deck assembly 300, the first connecting rod 351 and the rotating shaft of the frame 100 are close to the cutting deck 310, which means that a distance from the pedal rod 354 to the rotating shaft is greater than a distance from the cutting deck 310 to the rotating shaft. According to a principle of lever, when the height of the cutting deck assembly 300 is adjusted by the user, only a small force needs to be applied to the pedal rod 354 to realize a height adjustment of the cutting deck assembly 300, and an operation of the user is more convenient and more force-saving.
Please refer to
In an embodiment, in order to facilitate a height adjustment, when stepping on the pedal rod 354 forward, the cutting deck assembly 300 is lifted, which means that when the blocking plate 361 moves forward, the cutting deck assembly 300 is lifted, and when the cutting deck assembly 300 is lowered, the blocking plate 361 moves backward. In order to lock the height of the cutting deck assembly 300, the limiting rod 363 is arranged at a rear of the blocking plate 361. Under an effect of gravity of the cutting deck assembly 300, the blocking plate 361 has a tendency to move backward, and through a matching of the limiting rod 363 and the limiting board 362, the blocking plate 361 is limited from moving backwards, thereby limiting a downward movement of the cutting deck assembly 300, so that the height of the cutting deck assembly 300 is locked.
The limiting rod 363 is plugged and connected with the limiting hole 3621. When the limiting rod 363 is pulled out and placed aside, it is easy to be lost. In an embodiment of the disclosure, the limiting rod 363 is flexibly connected with the frame 100 or other components of the mower through a rope to avoid a loss of the limiting rod 363 after pulling it out.
Under a condition that a working condition is severe and bumpy, there is a risk that the limiting rod 363 falls out of the limiting hole 3621, and there is also a situation that the staff pulls out the limiting rod 363 by mistake, causing the cutting deck assembly 300 to fall suddenly. In an embodiment, an edge of the limiting hole 3621 is provided with a protruding clamping hole 3622, a side wall of the limiting rod 363 is provided with a clamping block, and the clamping block is matched with the clamping hole 3622. When a position of the clamping block corresponds to a position of the clamping hole 3622, the limiting rod 363 may be pulled out or inserted into the limiting hole 3621. In order to avoid the limiting rod 363 falling off from the limiting hole 3621, after the limiting rod 363 is inserted into the limiting hole 3621, the limiting rod 363 is rotated, so that the position of the clamping block does not correspond to the position of the clamping hole 3622, then the limiting rod 363 cannot be pulled out directly, a risk that the limiting rod 363 falls off from the limiting hole 3621 may be effectively reduced, and a risk of the user pulling out the limiting lever 363 by mistake may also be reduced.
In order to effectively lock the blocking plate 361, please refer to
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Please refer to
In an embodiment, one side of the self-locking component 372 close to the self-locking rod 371 is an inclined plane, and the inclined plane is inclined toward the self-locking rod 371 from bottom to top. The self-locking groove 373 is arranged on the inclined plane, and in a natural state, the self-locking groove 373 opens downward. An arrangement of the inclined plane may ensure that the self-locking rod 371 moves forward and downward in the lifting process of the cutting deck assembly 300, and will not be limited by the self-locking component 372 to move, and the self-locking rod 371 may also enter the self-locking groove 373 more smoothly. The self-locking component 372 rotates around the frame 100 through the rotating shaft, and in a process of moving the self-locking rod 371 forward and downward, the self-locking component 372 rotates around the rotating shaft until the self-locking rod 371 slides into the self-locking groove 373. The cutting deck assembly 300 is released at this moment, and the self-locking groove 373 limits the self-locking rod 371 to move backwards, so that the cutting deck assembly 300 is kept in the high position.
In an embodiment. In the natural state, the self-locking component 372 has a tendency to rotate in a direction towards the self-locking rod 371 under an action of its own gravity, and the self-locking component 372 is prevented from rotating in the direction towards the self-locking rod 371 by arranging a limiting device on the frame 100. The limiting device may be a structure that prevents a locking plate from rotating in the direction towards the self-locking rod 371 such as a limiting rod and a limiting block. In an embodiment, the limiting board 362 extends out to an outside of the frame 100, and a bottom of the self-locking component 372 is provided with a protrusion 375 away from the self-locking rod 371. The protrusion 375 is located below the limiting board 362, a bottom of the limiting board 362 is contacted through the protrusion 375, and the self-locking component 372 is limited from rotating in the direction towards the self-locking rod 371. In an embodiment, in order to facilitate a mounting and ensure a firmness of a mounting of the self-locking component 372, the bottom of the limiting board 362 is provided with a downward extending plate, so that the protrusion 375 is not higher than the rotating shafts of the self-locking component 372 and the frame 100, and the self-locking component 372 is mounted in a middle part of the frame 100. Please refer to
The self-locking rod 371 may be arranged on components such as the second connecting rod 352 and the third connecting rod 353. In an embodiment, the self-locking rod 371 is arranged at the rotating shaft of the second connecting rod 352 and the third connecting rod 353. In some embodiments, and the rotating shaft of the second connecting rod 352 and the third connecting rod 353 is used as the self-locking rod 371 to realize two uses of one component. The cutting deck 310 is subjected to a downward gravity, has a tendency to move downward, and drives the rotating shaft of the second connecting rod 352 and the third connecting rod 353 to move. The self-locking rod 371 is inserted into the self-locking groove 373, and moves to enable the self-locking component 372 to rotate. Since the self-locking component 372 and the protrusion 375 are matched with the limiting device, the rotation of the self-locking component 372 is limited, so that the self-locking rod 371 cannot produce a movement, a self-locking of the cutting deck 310 is realized, and the cutting deck 310 is limited from moving downward.
The cutting deck assembly 300 further includes a shock absorbing device 390. In an embodiment, the shock absorbing device 390 is a shock absorbing spring. A first end of the shock absorbing spring is fixed with the frame 100, and a second end of the shock absorbing spring is connected with the height adjustment device 350 on a side not connecting with the locking device 360. In some embodiments, the second end of the shock absorbing spring is hung on the rotating shaft of the third connecting rod 353 and the second connecting rod 352, and a force of the shock absorbing device 390 acting on the height adjustment device 350 is opposite to a force of the cutting deck assembly 300 acting on the height adjustment device 350. When encountering a shaking of the cutting deck assembly 300 in a bumpy area, the cutting deck assembly 300 may be buffered through the shock absorbing device 390, and a shaking amplitude of the cutting deck assembly 300 is reduced. In another embodiment, the shock absorbing device 390 may be a plurality of shock absorbing springs, or may be one or more other elastic shock absorbing parts, the shock absorbing device 390 is connected between the frame 100 and the cutting deck assembly 300, and a specific connection position is not limited.
In an embodiment, a first end of the first connecting rod 351 away from the third connecting rod 353 is rotatably connected with a fourth connecting rod 355. One end of the second connecting rod 352 away from the third connecting rod 353 is rotatably connected with a fifth connecting rod 356. The fourth connecting rod 355 and the fifth connecting rod 356 are rotatably connected with the cutting deck 310, and the first connecting rod 351 and the second connecting rod 352 are not directly rotatably connected with the cutting deck 310. A top of the cutting deck 310 is rotatably connected with the first connecting plate 357, and a second end of the first connecting plate 357 is rotatably connected with the bottom of the frame 100. Through arranging the first connecting plate 357, a connection stability of the cutting deck assembly 300 may be increased, and the shaking is reduced.
In an embodiment, a front end of the cutting deck 310 is provided with a plurality of rollers 380, and the rollers 380 are in contact with the ground. The cutting deck assembly 300 is in contact with the ground through the roller 380, and the cutting deck assembly 300 may be avoided from shaking during a movement compared with the cutting deck assembly 300 being suspended. The height of the cutting deck assembly 300 may be adjusted. In some embodiments, a position of the roller 380 on the cutting deck 310 may also be adjusted, so as to meet requirements of different cutting heights, and the roller 380 is always in contact with the ground.
Please refer to
Please refer to
In an embodiment, a bottom edge of the cutting baffle 330 at a front end in a forward direction of the cutting deck assembly 300 is higher than a bottom edge of the cutting baffle 330 at a rear end, which means that a height to the ground of the cutting baffle 330 at the front end is greater than a height to the ground of the cutting baffle 330 at the rear end. The cutting baffle 330 at the front end is located at a front side of the cutting baffle 330 at the rear end, the cutting baffle 330 at the front end is the cutting baffle 330 close to a side of the front wheel of the mower, and the cutting baffle 330 at the rear end is the cutting baffle close to a side of the rear wheel of the mower. When carrying out the mowing, the mower moves forward according to a predetermined track, the cutting baffle 330 at the front end first passes through the lawn to be mowed, then the cutting blade 332 cuts the lawn to be mowed, and the cutting baffle 330 at the rear end moves through this area. The bottom edge of the cutting baffle 330 at the front end is higher than the bottom edge of the cutting baffle 330 at the rear end, so that the lawn is convenient to enter the mowing area, and the lawn after mowing is avoided from being thrown back from a rear side of the cutting baffle 330. In some embodiments, a cutting height of the cutting blade 322 is flush with the cutting baffle 330 at the front end or slightly lower than the cutting baffle 330 at the front end, and a height after mowing is effectively guaranteed to be the same as an expected mowing height.
In an embodiment, the cutting baffle 330 includes an edge blocking board 331 and a middle blocking board 332. The edge blocking board 331 is a peripheral cutting baffle 330, and the edge blocking board 331 is connected into an accommodating cavity that is provided with the lawn discharging port 340. The accommodating cavity enclosed by the edge blocking board 331 is larger, spaces between the plurality of cutting blades 322 are not closed, and a lawn discharge passage is formed. The lawn after mowing passes through the lawn discharge passage by one side away from the lawn discharging port 340, and is finally discharged by the lawn discharging port 340. In some embodiments, the lawn discharging port 340 is arranged on a side of a forward direction of the cutting deck 310, and the discharged lawn may be avoided from splashing on a staff through a mode of side discharging, which may affect the staff. The middle blocking board 332 is detachably arranged in the accommodating cavity enclosed by the edge blocking board 331, the accommodating cavity enclosed by the edge blocking board 331 is separated into a plurality of smaller accommodating cavities 334, and the cutting blades 332 are arranged in the accommodating cavities 334.
In an embodiment, there are three cutting blades 322. The three cutting blades 322 are arranged in a triangular pattern. The middle blocking board 332 and the edge blocking board 331 are matched with each other to enclose three accommodating cavities 334, and the cutting blade 322 is arranged in the accommodating cavity. In some embodiments, the middle blocking board 332 may be disassembled according to the needs to meet the use requirements of a lawn crushing mode and a lawn discharging mode of the mower. When the mower crushes the lawn, a working area of the three cutting blades 322 is separated to each other, and the mowed lawn is continuously crushed and broken in the accommodating cavity 334 until it falls to the ground. In an embodiment, the middle blocking board 332 at a connection of the accommodating cavity 334 is provided with a notch. In some embodiments, a notch height is set at a half height of the middle blocking board 332. In the lawn discharging mode, part of the middle blocking board 332 is removed, the accommodating cavity 334 communicates with each other, and the mowed lawn moves from one side away from the lawn discharging port 340 to the lawn discharging port 340 until it is discharged by the lawn discharging port 340. In order to facilitate the discharging of the mowed lawn, in an embodiment, a lawn discharging blocking board 333 is arranged in the accommodating cavity 334 closest to the lawn discharging port 340, and the lawn discharging blocking board 333 prevents the mowed lawn from re-entering the accommodating cavity 334 closest to the lawn discharging port 340.
In an embodiment, a lawn discharging cover 341 is arranged at the lawn discharging port 340, the lawn discharging cover 341 is detachably connected with the cutting deck 310, and the lawn discharging cover 341 enables the lawn discharged by the lawn discharging port 340 moves along a set track to avoid the lawn splashing. An opening of the lawn discharging cover 341 becomes larger from an inside of the cutting deck 300 to an outside of the cutting deck 300, which is convenient for a discharging of broken lawn and avoids an accumulation of the broken lawn. In some embodiments, the lawn discharging blocking board 333 is obliquely arranged, a first end of the lawn discharging blocking board 333 is close to the lawn discharging port 340, and a second end of the lawn discharging blocking board 333 is arranged along an extending line of a side edge of the lawn discharging cover 341, which means that a length direction of the lawn discharging blocking board 333 overlaps with the side edge of the lawn discharging cover 341, so that the lawn is convenient for being discharged. The lawn discharging cover 341 is rotatably connected with the cutting deck 310, and in the natural state, the lawn discharging cover 341 is in a working position through an elastic component.
In an embodiment, the front end of the cutting deck assembly 300 is provided with the roller 380. In some embodiments, the roller 380 is arranged at three places, which are respectively arranged at two ends and a middle part of the front end of the cutting deck 310. In a process of traveling, the roller 380 is in contact with the ground, and the cutting deck assembly 300 moves forward more stably in a working process, reduces the shaking, and ensures that the mowing height is consistent.
In an embodiment, a top surface of the cutting deck 310 is provided with a pedal pad 313, and the pedal pad 313 is arranged at a side of the cutting deck 310 away from the lawn discharging cover 341. When sitting on the mower, the staff may first step on the pedal pad 313 and then sit on the mower, so as to facilitate the staff to sit on the mower. In some embodiments, the pedal pad 313 is arranged on an outside of the frame 100, which means at least part of the pedal pad 313 is not blocked by the frame 100 in a vertical direction projection, so that the staff is convenient to step on. In an embodiment, a surface of the pedal pad 313 is provided with an anti-slip device, and the anti-slip device avoids a situation that the staff slips and falls when stepping on it. The anti-slip device may be an anti-skid layer covered with such as rubber on the surface, and may also anti-skid lines provided on a surface of the pedal pad, and a specific embodiment is selected according to an actual situation, which is not limited in the disclosure.
In an embodiment, the cutting deck assembly 300 includes the cutting deck 310, a motor controller 323 and a plurality of cutting motors 321. The motor controller 323 and the cutting motor 321 are all arranged on the cutting deck 310, each cutting motor 321 is electrically connected with the motor controller 323, and a rotation of each cutting motor 321 is centrally controlled by the motor controller 130. A structure of the cutting deck assembly 300 of the disclosure may save a mounting space of the whole machine, improve heat dissipation efficiency of the motor and the motor controller, and reduce a cost of a whole vehicle.
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The cutting deck assembly of the disclosure integrates the mowing motor and the motor controller on the cutting deck of the mower, which utilizes one motor controller to control an operation of the plurality of mowing motors simultaneously, saves a layout space of the whole mower, reduces a cost of the whole mower and its own weight, facilitates the heat dissipation of the motor controller, and enable it to be able to maintain a long-term efficient operation. In addition, a stator coil of the motor is mounted in a sinking way, so that a main component of the motor is located below the cutting deck. On one hand, a volume of the motor is reduced, a center of gravity of the motor is reduced, and the motor runs more smoothly. On the other hand, the heating components of the motor are concentrated below the cutting deck, the heat generated during a running of the motor is concentrated below the cutting deck, and the cutting blade may be used as a heat dissipation fan to accelerate the heat dissipation.
Please refer to
In an embodiment, the cutting deck is arranged at the bottom of the frame, the cutting deck 310 is arranged between the front wheel and the rear wheel. When the front wheel keeps moving forward and does not turn, a minimum distance between the cutting deck 310 and the front wheel is from 10 mm to 60 mm. When the rear wheel keeps moving forward and does not turn, the minimum distance between the cutting deck 310 and the rear wheel is from 10 mm to 60 mm. The cutting deck 310 keeps a certain distance from the front wheel and/or the rear wheel. On one hand, it is convenient that the front wheel or the rear wheel does not collide with the cutting deck 310 when steering, on the other hand, when the height of the cutting deck 310 is adjusted, the cutting deck 310 is avoided from interfering with the front wheel or the rear wheel, and a safe use is guaranteed.
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Please refer to
Although the mower shown in the drawings accompanying this disclosure is the riding mower 1, it may also be a mower of any other type or structural design. Further, in addition to individual components/devices/systems specifically described in this specification, any suitable design scheme may be adopted for other components of the mower 1 in the disclosure, which is not specifically described herein.
In this embodiment, the grass conveying device includes a fan machine 620, a fan machine controller 6210 and a lawn conveying tube 625. The fan machine controller 6210 is fixedly mounted on the fan machine 620, and the fan machine 620 is communicated with the cutting deck 310 and the lawn conveying tube 625 respectively, so that the fan machine 620 can suck the crushed lawn cut by the cutting deck 310 into the lawn conveying tube 625 when working, and continues to blow the lawn into the grass collection device.
The grass collection device of the disclosure adopts a grass collection box 630. The grass collection box 630 includes a first side wall 631 and a second side wall 634 arranged oppositely, a front wall 633 located between the first side wall 631 and the second side wall 634, a box door 636 located between the first side wall 631 and the second side wall 634 and arranged opposite to the front wall, and a top wall 637 and a bottom wall 628 respectively arranged between the front wall 633, the box door 636, the first side wall 631 and the second side wall 634, which may refer to
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Please further refer to
In this embodiment, when the first movable component 645 is transformed from the first state to the second state, and when the first movable component 645 is maintained in the second state for more than a preset time, the clogging detection device 640 generates the clogging signal. In some embodiments, the preset time is 3 seconds to 5 seconds, and the preset time may be selected as 3 seconds. Since there may be an accumulated lawn in the lawn conveying tube 625, the air flow in the lawn conveying tube 625 may be caused to change, thereby affecting a state of the first movable component 645. However, after a certain time, the accumulated lawn finally enters the grass collection box 630, and the air flow in the lawn conveying tube 625 may return to normal. In this case, the grass conveying device is not clogged. Therefore, the embodiment is set with a preset time to avoid the clogging detection device from producing an error signal.
The clogging detection device 640 further includes a fixing plate 647. The first sensor 646 is arranged on the fixing plate 647, the first movable component 645 is rotatably connected with the grass collection device, and the first movable component 645 rotates relative to the grass collection device to switch between the first state and the second state. In an embodiment, the fixing plate 647 includes a first arm 6470 and a second arm 6471 that extend integrally. A first end of the first arm 6470 is fixed on the first side wall 631 of the grass collection box 630, a second end of the first arm 6470 extends vertically from the first arm 6470 to form the second arm 6471, and the second arm 6471 is fixedly provided with the first sensor 646. A free end of the second arm 6471 includes a limiting part 6472 and is used for limiting the rotation of the first movable component 645 to prevent the first sensor 646 from being damaged by the first movable component 645. The limiting part 6472 may be two protruding pieces extending outward from the free end of the second arm 6471, or other suitable designs. The first arm 471 of the fixing plate 647 may be welded to the first side wall 631 of the grass collection box 630 or fixed to the first side wall 631 by any other suitable connecting method. The fixing plate 647 of this embodiment is “L” shaped, and of course, in other embodiments, the fixing plate 647 may further be other shapes and structures.
The first movable component 645 is fixed at a top end of the lawn inlet 632 of the grass collection box 630 through a screw rod 641 passing through two mounting posts 648 and matched with a washer 643 and a nut 644, and the first movable component 645 may rotate freely around the screw rod 641 like a hinge. In an embodiment, the mounting columns 648 are both hollow for the screw rod 641 to pass through, and a distance between the two mounting columns 648 is just enough to house a mounting part corresponding to the first movable component 645 in between. The two mounting posts 648 may be welded to the first side wall 631 of the grass collection box 630 or connected to the first side wall 631 by any other suitable method.
When the grass conveying device (such as the lawn conveying tube 625) works normally, the grass conveying device is not clogged, the air flow in the lawn conveying tube 625 blows the first movable component 645 to rotate. The first movable component 645 rotates to the second state under an action of the air flow in the lawn conveying tube 625, and maintains in the second state. The first movable component 645 is flush with a top tangent direction of the lawn inlet 632 of the grass collection box 630 at this moment. When the first sensor 646 detects that the first movable component 645 is in the second state, the first sensor 646 does not send out the clogging signal. When the grass conveying device (e.g., the lawn conveying tube 625) is clogged, the air flow in the lawn conveying tube 625 decreases, or even disappears completely. At this time, the air flow is insufficient to blow the first movable component 645 to reach and maintain the second state, and this case is defined as the first movable component 645 is in the first state (other states other than the second state are defined as the first state in the disclosure). When the first sensor 646 detects that the first movable component 645 is in the first state, the first sensor 646 sends out the clogging signal.
In some embodiments of the disclosure, the first sensor 646 is a switch. The first sensor 646 detects the state of the first movable component 645 through a form of the first movable component 645 triggering the switch. When the first movable component 645 triggers the switch, the first sensor 646 detects that the first movable component 645 is in the first state, and when the first movable component 645 is disconnected from the switch, the first sensor 646 detects that the first movable component 645 is in the second state. Of course, in other embodiments, the first sensor 646 may also be another type of sensor, such as a displacement sensor, and the displacement sensor detects a displacement magnitude of the first movable component 645, thereby detecting the state of the first movable component 645. The first movable component 645 may realize a state switching through a mode of rotation, and may also realize the state switching by means such as translation. In order to clearly illustrate a scheme of the disclosure, the embodiment takes the first sensor 646 as a switch as an example to elaborate.
When the grass conveying device is working normally, the first movable component 645 is closed with the first switch (first sensor) 646 under an action of the air flow from the lawn conveying tube 625, and this air flow enters the grass collection box 630 through the lawn inlet 632. When the grass conveying device (e.g., in the lawn conveying tube 625) is clogged, the air flow entering the grass collection box 630 may decrease until it disappears completely, and this may enable the first movable component 645 and the first switch 646 to be disconnected. At this moment, the clogging detection device 640 sends out a fault signal. Further, in this embodiment, when a time of disconnection between the first movable component 645 and the first switch 646 exceeds a certain time interval (for example, 3s), the clogging detection device 640 sends out the fault signal.
The clogging detection device 640 further includes the fixing plate 647, and the fixing plate 647 includes the first arm 6470 and the second arm 6471 that extend integrally. The first end of the first arm 6470 is fixed on the first side wall 631 of the grass collection box 630, the second end of the first arm 6470 extends vertically from the first arm 6470 to form the second arm 6471, and the second arm 6471 is fixedly provided with the switch 646. The free end of the second arm 6471 includes the limiting part 6472 and is used for limiting the rotation of the first movable component 645 to prevent the switch 646 from being damaged by a first movable component 645. The limiting part 6472 may be two protruding pieces extending outward from the free end of the second arm 6471, or other suitable designs. The first arm 471 of the fixing plate 647 may be welded to the first side wall 631 of the grass collection box 630 or fixed to the first side wall 631 by any other suitable connecting method. The fixing plate 647 of this embodiment is “L” shaped, and of course, in other embodiments, the fixing plate 647 may further be other shapes and structures.
In addition, the clogging detection device 640 of the disclosure is configured to detect an air flow parameter in the grass conveying device. When the air flow parameter is less than the preset value, the clogging detection device 640 generates the clogging signal. In an embodiment, the clogging detection device 640 detects an air speed at an outlet of the grass conveying device (such as the lawn conveying tube 625), and a preset value of the air speed may be 156 M/s. The preset value of the air speed may also be other appropriate values according to an actual situation. When the air speed is less than the preset value for more than the preset time (for example, 3 seconds), the clogging detection device 640 sends the clogging signal.
In an embodiment of the disclosure, when the air speed of the air flow entering the grass collection box 630 from the lawn inlet 632 reaches the preset value, and the first movable component 645 of the clogging detection device 640 will be pushed by air to touch the first switch 646 and enable it to close, which means that the first switch 646 is triggered thereby. The preset value of the air speed may be set to 156 M/s, which means that the first switch 646 is triggered when the air speed is greater than this preset air speed.
When the air speed at the lawn inlet 632 is 15 m/s, an air volume is 15*15/1600 KN/m2, a pressure is multiplied by this value, and an area may be calculated as 1.5e2 mm2 or 2.5e2 mm2.
An air pressure is a pressure of the air on a plane perpendicular to a direction of the air flow. According to an air-pressure relationship derived from Bernoulli's equation, a dynamic pressure of the air is:
In an embodiment, wp is the air pressure [kN/m2], ro is an air density [kg/m3], and v is the air speed [m/s].
Since a relationship between air density (ro) and a gravity (r) is r=ro·g, there is ro=r/g.
Use this relation in (1) to get:
This is a standard air pressure formula.
For example, in a standard state (a pressure is 1013 hPa, and a temperature is 15° C.), an air gravity r=0.01225 [kN/m3], and a gravitational acceleration at latitude 45° g=9.8[m/s2], we get: wp=v2/1600 (3).
In an embodiment of the disclosure, when there is no air flow at the lawn inlet 632, the first movable component 645 is vertically downward under the effect of gravity. The first movable component 645 does not touch the switch 646, and the first switch 646 is in a disconnected state at this moment. When the lawn inlet 632 has a certain air flow, the first movable component 645 rotates freely around the screw rod 641 clockwise under an effect of air flow (as shown in
The preset time may be set to 3 seconds, and a disconnection for 3 seconds is a delay of 3 seconds. Due to an actual mowing, there will be the lawn accumulation that are easy to cause the clogging of the lawn conveying tube 625, sometimes it may be at a critical point of clogging, and sometimes lawn accumulation may be discharged into the grass collection box without eventually causing clogging. Therefore, in order to exclude this situation, a preset time range of a disconnection of the first switch 646 may be set to 3 seconds to 5 seconds (or may be preset to other appropriate time lengths according to the actual situation), so that the first switch 646 is disconnected for a long time, and if the lawn collection still cannot enter the grass collection box 630 normally, it may be determined that the clogging situation occurs.
The first switch 646 may be a pressure switch, a micro switch, a travel switch, or any switch or device that may be applied to the clogging detection device 640 of the disclosure. In this embodiment, the first switch 646 is the pressure switch.
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The overfill detection device 650 includes at least one detection unit, a plurality of detection units are arranged at different positions in the grass collection box 630. When all the detection unit detects that the lawn amount in the grass collection box 630 reaches the threshold, which means that the lawn amount at a plurality of positions in the grass collection box 630 has reached the threshold (lawn full), the overfill detection device 650 generates an overfill signal at this moment, which means that when the plurality of detection units all detect the lawn full in the grass collection box 630, the overfill detection device 650 generates the overfill signal.
In this embodiment, the overfill detection device 650 includes a first detection unit 6501, a second detection unit 6502 and a third detection unit 6503. The three detection units are connected to a longitudinally extended mounting bracket 658, and the mounting bracket 658 is fixedly mounted at the front wall 633 of the grass collection box 630 close to the top wall 637. In an embodiment, positions of the first detection unit 6501, the second detection unit 6502 and the third detection unit 6503 are basically arranged on a left side (close to the second side wall 634), a middle and a right side (close to the first side wall) of the front wall 633 of the grass collection box 630.
Each detection unit 50 includes a second sensor 656 and a second movable component 655. The second movable component 655 has the first state and the second state. When the lawn amount in the grass collection box 630 reaches the threshold (lawn full), the lawn in the grass collection box 630 pushes the second movable component 655 to move to the second state, and at this moment, the second sensor 656 detects that the second movable component 655 is in the second state. When a plurality of the second movable components 655 are in the second state, the overfill detection device 650 sends the overfill signal.
In some embodiments of the disclosure, the second sensor 656 is a switch. The second sensor 656 detects a state of the second movable component 655 through a form of the second movable component 656 triggering the switch. When the second sensor 656 triggers the switch, the second sensor 656 detects that the second movable component 656 is in the first state, and when the second movable component 655 is disconnected from the switch, the second sensor 656 detects that the second movable component 655 is in the second state. Of course, in other embodiments, the second sensor 656 may also be another type of sensor, such as a displacement sensor, and the displacement sensor detects a displacement magnitude of the second movable component 655, thereby detecting the state of the second movable component 655. The second movable component 655 may realize a state switching through a mode of rotation, and may also realize the state switching by means such as translation. In order to clearly illustrate a scheme of the disclosure, the embodiment takes the second sensor 656 as a second switch an example to elaborate.
Each detection unit 6501-6503 includes a mounting bracket part 6580, the second switch 656 and the second movable component 655. Each mounting bracket part 6580 includes a first part 6581, a second part 6582 and a third part 6583 extending integrally, and the second part 6582 extends between the first part 6581 and the third part 6583. The switch 656 is fixed on the third part 6583, the second movable component 655 is mounted to a mounting part 6584 at one end of the first part 6581 through a long axis pin 659, and the second movable component 655 may rotate freely around the long axis pin 659.
The second switch 656 may be a pressure switch, a micro switch, a travel switch, or any switch or device that may be applied to the clogging detection device 640 of the disclosure. In this embodiment, the second switch 656 is the pressure switch.
It is noted that in some embodiments of the disclosure, the overfill detection device 650 may include one, two, three or more detection units as required. These detection units may be connected with a common mounting bracket 658 or individually mounted at a suitable position of the grass collection box 630, such as at a corresponding position near the top wall 637 of the grass collection box 630.
The second switch 656 may be a pressure switch, a micro switch, a travel switch, or any switch or device that may be applied to the overfill detection device 650 of the disclosure. In this embodiment, the second switch 656 is the pressure switch. The mounting bracket part 6580 of the three detection units 6501-6503 may be separate parts of the three detection units 6501 to 6503 respectively, or the mounting bracket part 6580 of the three detection units 6501 to 6503 may be integrated together to form the longitudinally extended mounting bracket 658. The first, second, and third parts 6581 to 6583 included in each mounting bracket part 6580 extend continuously in a shape of “[”.
The first, second and third detection units 6501 to 6503 may share one long axis pin 659 to mount their second movable components 655 on the first part 6581 of their respective mounting bracket parts 6580, or they may each include one pin to rotatably mount their second movable components 655 onto the first part 6581 of their respective mounting bracket parts 6580.
The overfill detection device 650 may further include a pair of opening pins 653 and washers 52, which are respectively arranged on two ends of the long axis pin 659 to prevent the long axis pin 659 from moving left and right along a longitudinal direction of the mounting bracket 658.
In this embodiment, the first detection unit 6501, the second detection unit 6502 and the third detection unit 6503 adopt a mode of series connection, which means that a plurality of second switches 656 are connected in series in a line. When the plurality of second switches 656 are all triggered, the grass collection box 630 is considered to be in an overfill state.
With a collection of crushed lawn in the grass collection box 630 gradually increases, the crushed lawn may touch the second switch 656 (series connection) in the overfill detection device 650 of the grass collection device under an action of its own gravity. Under normal circumstances, after the air flow from the lawn conveying tube 625 blows the crushed lawn from the lawn inlet 631 on the first side wall 631 of the grass collection box 630 into the grass collection box 630, the crushed lawn will first begin to accumulate at a position of the grass collection box 630 near the second side wall 634, and then slowly accumulate towards a position of the first side wall 631. Therefore, under normal circumstances, the crushed lawn will first touch, squeeze the second movable component 655 of the first detection unit 6501 of the overfill detection device 650, so that it is closed with the corresponding switch6 56.
In other words, when the grass collection box 630 is gradually filled with crushed lawn, the second movable component 655 of the first detection unit 6501 on a left side rotates freely at a certain angle around the long axis pin 659 (such as 18 degrees, or an angle of other degrees), first touches the corresponding second switch 656 and closes, then touches the third part 6583 of the mounting bracket part 6580, is limited and cannot continue to rotate. Then, the second switch 656 of a middle second detection unit 6502 is closed sequentially, and the second switch 656 of a right third detection unit 6503 is finally closed. When the second switch 656 of left, middle and right three positions all closed, the overfill detection device 650 may send out the overfill signal of the grass collection box. The mower 1 may receive a feedback signal, the cutting deck 310 stops mowing, the fan machine 620 stops working, and the mower will travel to a lawn discharging point 6M from the current working position 6B (representing detecting a position that grass collection box 630 is full) at this moment, and an unloading is carried out.
The first sensor 646 and the second sensor 656 in this embodiment may adopt a same structure or different structures, and the first movable component 656 and the second movable component 655 may adopt a same structure or adopt different structures, which is not limited herein.
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In one embodiment of the disclosure, the bottom wall 638 is not parallel to the top wall 637, but is inclined downward relative to the top wall 637 at a certain angle (it may be any suitable angle), so that the crushed lawn entering the grass collection box 630 may be easily poured out from the grass collection box 630 under the action of gravity when the box door 636 is opened, which is conducive to completing an unloading process quickly and thoroughly.
A rear end of the electric pushing rod 663 is mounted on the frame 6340 of the second side wall 634 of the grass collection box 630 through a bolt 661 and a nut 662, and the other end of the electric pushing rod 663 is fixed on the swing arm 635 of the box door 636 of the grass collection box through a bolt 664 and a nut 665. Under normal conditions, the box door 636 of the grass collection box is firmly closed by an action of the electric pushing rod 663. When the grass collection box 630 is full of lawn and the mower 1 automatically walks to the lawn discharging point 6M (
Each element and component of the clogging detection device 640, overfill detection device 650 and lawn unloading device 660 of the disclosure may be made of any material that can help realize its intended function. For example, the first movable component 645 and/or the second movable component 655 may be made of spring steel with a wear-resistance and high-strength, while a material of other components may be made of ordinary Q235 steel.
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The mower 1 further includes an auto driving control system 6106. The lawn collection system control device 6105 sends a fault condition of the grass conveying device and a load condition of the grass collection device to the auto driving control system 6106 respectively.
The lawn collection system control device 6105 may be mounted under a seat of the mower 1, the fan machine controller 6210 of lawn collection is mounted on the fan machine 620 for controlling a working condition of the fan machine 620, and the auto driving control system 6106 may be mounted under a flat plate behind the seat. The lawn collection system control device 6105 and the auto driving control system 6106 may also be arranged at other suitable positions of the mower 1.
The clogging detection device 640, the overfill detection device 650 and the auto lawn unloading device 660 are respectively electrically connected with the lawn collection system control device 6105. A specific wiring method may be used in any suitable way, which is not detailed in this specification. The lawn collection system control device 6105 may be a central controller of the mower 1 itself at the same time, and control the clogging detection device 640, the overfill detection device 650 and the auto lawn unloading device 660 respectively. The lawn collection system control device 6105 may also have a function of controlling the other components of the mower 1 at the same time.
When the grass conveying device (e.g., the lawn conveying tube 625) is clogged, the air flow entering the grass collection box 630 from the lawn inlet 632 of the grass collection box 630 will be reduced to enable the first movable component 645 of the clogging detection device 640 to be disconnected from the first switch 646 under the action of gravity. The clogging detection device 640 sends the fault signal to the lawn collection system control device 6105, and the lawn collection system control device 6105 notifies the auto driving control system 6106.
The auto driving control system 6106 controls and operates the mower 1 to walk from the current working position 6A (recorded as a breakpoint position 6A) to a fault repairing area 6P for corresponding repairs. When the fault is eliminated after repairing, the lawn collection system control device 6105 notifies the auto driving control system 6106 according to a received signal (for example, it may be a signal that a maintenance personnel input to the lawn collection system control device 6105, or a corresponding signal sent to the lawn collection system control device 6105 in other possible ways), and the auto driving control system 6106 will control the mower 1 to drive back to the breakpoint position 6A from the fault repairing area 6P and continue to mow. It may also be that the maintenance personnel directly send a signal to the auto driving control system 6106 to notify and control the mower 1 to return to the breakpoint position 6A.
When the crushed lawn entering the grass collection box 630 are gradually filled up and the second movable component 655 and the second switch 656 of the first detection unit, the second detection unit and the third detection unit 6501-6503 of the overfill detection device 650 are all closed under an action of a generated pressure, the overfill detection device 650 will send the overfill signal to the lawn collection system control device 6105. The lawn collection system control device 6105 will notify the auto driving control system 6106, and the auto driving control system 6106 will control and operate the mower 1 to drive from the current working position 6B (recorded as the breakpoint position 6B) to the lawn discharging area 6M. Then the lawn collection system control device 6105 is notified, and the lawn collection system control device 6105 controls the electric pushing rod 663 of the lawn unloading device 660 to push the swing arm 635 of the box door 636 of the grass collection box 630 to open the box door 636 of the grass collection box 636 to unload the lawn. After a predetermined time interval, the electric pushing rod 663 will drive the swing arm 635 to close the box door 636 and complete an unloading of the lawn. When the unloading of the lawn is finished, the lawn collection system control device 6105 notifies the auto driving control system 6106 according to the received signal (for example, it may be a signal sent by the electric pushing rod 663, or a signal that a specific personnel input to the lawn collection system control device 6105, or a corresponding signal sent in other possible ways), and the auto driving control system 6106 will control the mower 1 to drive back to the breakpoint position 6B from the lawn unloading area 6M and continue to mow. It may also be that the specific personnel directly send a signal to the auto driving control system 6106 to notify and control the mower 1 to return to the breakpoint position 6B.
In a process of unloading the lawn, once the electric pushing rod 663 starts to work, the crushed lawn begins to leak outward. When the box door 636 is in a maximum opened state, a dumping of the crushed lawn has basically been completed. The predetermined time interval is set according to a speed of the electric pushing rod 663, for example, it may be set to 15 seconds, then a tolerance of 5 seconds is reserved, and the predetermined time interval may be recommended to be 15 seconds to 20 seconds.
In summary, the mower and its lawn collection system in the disclosure realize following functions in a mode of auto driving of the mower (lawn mower): three major functions: auto detection of clogging, auto detection of overfill of the lawn collection and auto unloading of the lawn, which may cooperate with the mower in an unmanned state, and may also be applied to the mower controlled by a driver. Therefore, the disclosure effectively overcomes various shortcomings in the prior art and has a high degree of industrial utilization value.
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In this disclosure, a structure of the anti-roll frame 400 may be unlimited. Please refer to
As long as a storage space can be reduced relative to the frame 100, a specific position of the second position of the anti-roll frame 400 and a structure between the anti-roll frame 400 relative to the frame 100 may not be limited. The anti-roll frame 400 and the frame 100 may be locked after folding or not, in order to have a better appearance and customer experience. In some embodiments, please refer to
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In an embodiment of the mower 1 of the disclosure, the anti-roll frame 400 is locked at the first position and/or the second position through a locking structure. The locking structure may be all conventional suitable locking structure types, such as a spring-pin locking assembly and the like. Considering a reliability of the anti-roll frame 400 as a protective structure, please refer to
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By arranging the storage platform 910 on the mower 1, a load capacity of the mower 1 in a running process is increased, and the staff is convenient for randomly configuring auxiliary tools or other articles, so that the staff has reduced labor effort in the mowing process, and increased a convenience of the mower 1 when using.
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In an embodiment of the disclosure, three flanges are arranged on the storage platform 910. The three flanges enclose the storage platform 910 into a frame body with one side opening, which enables it to be easy to store things and increase the strength of the storage platform 910. The storage platform 910 is provided with the friction protrusion, the friction protrusion protrudes upward, and a through hole is arranged in the friction protrusion. The through holes can reduce the weight of the entire storage platform 910 and facilitate heat dissipation for electrical equipment (e.g., motors, control panels, batteries, etc.) below the storage platform 910.
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The battery 800 is mounted on the frame 100 and located inside the casing 101 and located below the driving seat 500 to save a space. The controller 240 is electrically connected with the battery 800 and the electrical equipment of the mower 1 respectively to realize an electrical control of the mower 1. The controller 240 is mounted inside the casing 101 and located at the tail of the casing 101, so that the controller 240 may be conveniently mounted and disassembled to realize a maintenance of the controller 240.
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A first mounting frame 241 is mounted in the casing 101, and the controller 240 is mounted on the first mounting frame 241. The first mounting frame 241 is detachably mounted at an inner side of the first housing 1010 and is located in the inner cavity 1010, and the controller 240 is detachably mounted on the first mounting frame 241. The controller 240 is mounted on the first mounting frame 241, which can increase a firmness of a control and prevents the controller 240 from loosening due to bumps or vibrations during mowing. And a mounting position of the controller 240 can be controlled through the first mounting frame 241. In a specific embodiment, the suitable first mounting frame 241 may be arranged according to the mounting position required by the controller 240. At the same time, the first mounting frame can raise a height of the controller 240, which is more convenient for maintenance. The controller 240 adopts a detachable mounting to facilitate a removal of the controller 240 during later maintenance, so that a maintenance personnel may maintain the controller outside a machine body, thus increasing an operating space and reducing a difficulty of the maintenance. In addition, a removable mounting enables it to be easy to replace the controller 240, which increases a duration life of other parts of the mower 1.
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The first housing 1010 encloses the inner cavity 1011 at the tail of the frame 100, and the controller 240 is arranged in the inner cavity 1011. The inner cavity 1011 is sealed through the second housing 1020, so that the controller 240 plays a protective role. At the same time, the second housing 1020 detachably arranged on the first housing 1010, so that a convenience of maintenance is increased. And the first mounting frame 241 is arranged in the inner cavity 1011 and the controller 240 is detachably mounted on the first mounting frame 241 to increase a convenience of the maintenance and maintenance cost of the controller 240.
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The monitoring results include state information as well as working information. The monitoring results may all be displayed by the display screen 232. The monitoring results may be displayed through text, icons, etc. The working information includes identification information of the walking speed and the cutting speed, and the identification information includes a speed identification and a speed regulation identification. The speed identification includes a walking speed identification and a cutting speed identification, and the speed regulation identification includes a walking speed regulation identification and a cutting speed regulation identification. The display screen 232 can display the identification information of the walking speed and the cutting speed, and a regulation of the speed regulation identification can set the gear of the walking speed or the cutting speed.
In an embodiment of the disclosure, the state information includes at least one of an operator in-position state 1603, a closing state and releasing state of an electromagnetic brake 1604, time in a current time zone 1605, a cellular signal state 1607, a remote control state 1608, a lighting device state 1609, an alarm light state 1610, and a project name. The project name may be a name of an item in working information. For example, the project name may be light, setting, stage working information, and so on.
In the embodiment of the disclosure, the working information includes states of battery power 1602, a charging remaining time, an estimated time of a full charging, an external tool state 1601, a device energy consumption state 1611, a device use time 1612, a fault reminding 1613 and other states. The device use time 1612 includes a total use time of the device, a use time of the cutting system 2010, and a use time of a knife blade. The working information may all be displayed by the display screen 232.
In an embodiment, the fault reminding 1613 includes the fault information 1614 and the corresponding fault handling measures 1615, and the fault information includes a fault code and corresponding fault details. The working information further includes the stage working information, which includes: a working area, a working duration, and an average speed. The working information further includes pause reminding information, and the pause reminding information includes a pause duration.
In an embodiment of the disclosure, the mower 1 further includes a lighting device and an alarm light, the lighting device and the alarm light are arranged on the machine body of the mower 1. The lighting device is used to provide lighting or light display, and alarm lights are used to alarm. The monitoring system 1600 is used to monitor a working state of the lighting device.
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In an embodiment of the disclosure, the operating system 2030 further includes the operating handle 231 for operating and controlling the walking system 2020. The operating handle 231 is rotatably mounted on the machine body, and a rotation angle of the operating handle is positively correlated with the walking speed. The rotation angle refers to an angle between an initial position of the operating handle 231 and a current position. When the operating handle 231 is at the initial position, the walking speed of the mower is zero. When a position of the operating handle 231 is in an extreme position (the rotation angle is largest at this time), the walking speed of the mower is a maximum value corresponding to a gear of a current walking speed. A number of the operating handle 231 is two, the two operating handles 231 control driving wheels at corresponding sides of the walking system respectively, and a walking direction of the mower is adjusted by a rotation angle difference of the two operating handles 231. The walking speed and the rotation angle of the walking system 2020 can be operated and controlled by the operating handle 231.
Each operating handle 231 is respectively provided with the speed regulation key, one of operating handle 231 is provided with the walking speed regulation key, and a cutting speed regulation key is arranged on the other operating handle 231. The speed regulation key is located at an end of the operating handle 231, and a moving direction of the speed regulation key is along a direction of a holding part of the operating handle 231. When the operator holds an operating rod tightly, a thumb is naturally located at the end of the operating handle 231, the operator only needs to move and press with the thumb to a palm direction at this moment, and then a regulation of the speed is completed, which is ergonomic.
In an embodiment, the speed regulation key is divided into three gears, a high gear, a medium gear and a low gear, which can regulate a maximum value of walking speed or cutting speed. When the speed is regulated by using the speed regulation key, a regulation result is displayed synchronously on the display system. At the same time, the speed regulation identification on the display can also regulate a rotation speed of the blade and walking speed of the mower.
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In an embodiment of the disclosure, the speed regulation key may be a separating type structure. The speed regulation key includes the cutting speed regulation key and the walking speed regulation key. In an embodiment, the cutting speed regulation key includes the speed regulation key of a cutting acceleration key and a cutting deceleration key. The walking speed regulation key includes a walking acceleration key and a walking deceleration key. When pressing the speed regulation key, a corresponding speed regulation identification on the display screen 232 will be lit. For example, when the walking acceleration key is used to accelerate the walking system 2020 of the cutting machine, an acceleration identification corresponding to the walking speed identification is illuminated. In addition, the speed regulation key may also be an integrated structure, and the above functions may be realized through a touch screen or a swing mode.
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In an embodiment of the disclosure, the display screen 232 includes a state display area 1711 and a working display area 1712, the state display area 1711 is used for displaying state information, the working display area 1712 is used for displaying working information, and the working information includes the identification information. In an embodiment, the state display area is located in an upper area of the display screen in a form of a horizontal bar, and a rest area of the display screen is the working display area.
In an embodiment of the disclosure, the state information includes at least one of the operator in-position state 1603, the closing state and releasing state of the electromagnetic brake 1604, the time in the current time zone 1605, the cellular signal state 1607, the remote control state 1608, the lighting device state 1609, the alarm light state 1610, and the project name. The project name may be the name of the item in working information. For example, the project name may be light, setting, stage working information, and so on.
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In an embodiment of the disclosure, the working information further includes stage working information 1616, which includes the working area, the working duration, and the average speed. The monitoring results further include the pause reminding information, and the pause reminding information includes the pause duration.
The display system 1700 can display states of the battery power 1602, the operator in-position state 1603, the closing state and the releasing state of the electromagnetic brake 1604, the time in current time zone 1605, the cellular signal state 1607 (2/3/4G and so on), the remote control state 1608, the charging remaining time, the estimated time of the full charging, the lighting device state 1609, the alarm light state 1610, the external tool state 1601, a speed gear of the walking system 1621, a speed gear of the cutting system 1622, the device energy consumption state 1611, the device use time 1612, the fault reminding 1613, a detail fault code 1614, an advice of fault handling measure 1615 and other states. The device use time 1612 includes the total use time of the device, the use time of the cutting system 2010, and the use time of the knife blade. Therefore, the disclosure realizes a centralized management of functions of a garden tool, and improves a visualization degree of the functions.
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In an embodiment of the disclosure, the state of the mower 1 include a charging state, a charging completion state, a low power state, a light on state, or a light off state.
In an embodiment of the disclosure, the state of the mower 1 further includes a plurality of fault states. The fault state includes a fault device and a number of faults. For example, a right driving controller has two faults, a left blade controller has two faults, etc.
In an embodiment of the disclosure, the mower 1 further includes the light group 1400. The light group 1400 will be lit up according to the preset lighting method under a control of the controller. The lighting method of the light group 1400 corresponds to the state of the mower 1 one-to-one. The light group 1400 is arranged on the machine body 10, so a lighting of the light group 1400 may be viewed from a long distance. And the lighting mode of the light group 1400 corresponds to the state of the mower 1 one-to-one, so a current state of the mower 1 may be known by viewing a light form of the light group 1400 from the long distance.
In an embodiment, the walking mechanism 200 includes the front wheel assembly 210, the rear wheel assembly 220, a driving device 700, the operating device 230 and so on. In an embodiment, the front wheel assembly 210 is the universal wheel for a convenience of the steering. The driving device 700 is connected with the rear wheel assembly 220. The operating device 230 controls the driving assembly to drive the rear wheel to rotate, thereby realizing the movement of the mower. When need to steer, a speed of two rear wheels is regulated by the operating device 230, and there is a certain speed difference between the two rear wheels, thereby driving the mower to steer. A driving mechanism is connected with the rear wheel assembly 220, which improves a moving performance of the mower and meets needs of multi-working conditions. It should be noted that, mounting positions of the operating rod of the operating device 230 are different according to different models of mowers. For the riding mower, the operating rod is mounted at the front end of the driving seat 500, so as to facilitate an operation of personnel. A specific mounting mode, position, etc. are selected according to needs, which is no limited in the disclosure.
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A mounting mode of the reinforcing connecting body 7112 on the motor casing 7111 in the disclosure may not be limited, including but not limited to modes such as embedded casting, detachable fixing, bonding, welding, etc. There is also no limit to a number of reinforcing connecting bodies 7112, which may be one, two, or more, and following examples of various forms and quantities of reinforcing connecting bodies 7112 are illustrated.
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In an embodiment, the driving device 700 further includes the reducer 120. In an embodiment of the driving device 700 of the disclosure, the driving motor 7110 includes the motor casing 7111 and the first torque output end 7113. The reducer 120 includes the fixing base 71211, a torque input end and a second torque output end 7122. In an embodiment, the motor casing 7111 is fixedly provided with at least one reinforcing connecting body 7112 for connection. The motor casing 7111 and the reinforcing connecting body 7112 are made of different materials respectively, and the material strength of the reinforcing connecting body 7112 is greater than that of the motor casing 7111. The reinforcing connecting body 7112 is provided with the threaded hole 71121. The fixing base 71211 of the reducer 120 is in a threaded connection with the threaded hole 71121 on a same or different reinforcing connecting bodies 7112 through a plurality of connecting components. The first torque output end 7113 drives the torque input end (which means at least one first planetary gear 71232 in a first gear system 7121) to rotate. The torque input end drives the second torque output end 7122 to rotate, and the second torque output end 7122 is connected with the walking wheel 201, and drives the walking wheel 201 to rotate.
In an embodiment of the driving device 700 of the disclosure, a second circumferential stopping structure is arranged between the fixing base 71211 and the reinforcing connecting body 7112 to prevent the fixing base 71211 and the reinforcing connecting body 71121 from rotating. The second circumferential stopping structure includes a plurality of second protrusions (not shown) and a plurality of second grooves (not shown) matched with the plurality of second protrusions. The plurality of the second protrusions is arranged on one of the reinforcing connecting body 7112 and/or the fixing base 71211, and the plurality of second grooves is correspondingly arranged on the other one of the reinforcing connecting body 7112 and/or the fixing base 71211. In this embodiment of the driving device 700 of the disclosure, a second protruding part is arranged on the reinforcing connecting body 7112, and the second concave part is arranged on the fixing base 71211. A shape and a position of the second protruding part on the reinforcing connecting body 7112 correspond to a shape and a position of the second concave part on the fixing base 71211. The second protruding part is clamped into the second concave part to stop it in the circumferential direction, and a shearing force may be evenly distributed to the fixing base 71211 and the reinforcing connecting body 7112 by arranging the second protruding part and the second concave part with a larger contact area. In another embodiment of the driving motor 700 of the disclosure, the second concave part may also be arranged on the reinforcing connecting body 7112, and the second protruding part is arranged on the fixing base 71211. The shape and the position of the second concave part on the reinforcing connecting body 7112 correspond to the shape and the position of the second protruding part on the fixing base 71211, and the second protruding part is clamped into the second concave part. In a fifth embodiment of the driving motor 700 of the disclosure, the plurality of the second concave parts may also be arranged on the reinforcing connecting body 7112 and the fixing base 71211 respectively, and the plurality of second protruding parts is correspondingly arranged on the fixing base 71211 and the reinforcing connecting body 7112 respectively. The second concave parts and the second protruding parts on the reinforcing connecting body 7112 respectively correspond to and are clamped with the second protruding part and the second concave part on the fixing base 71211, respectively.
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In an embodiment of the disclosure, the driving device 700 is provided with a sealing structure at a connection of the driving motor and the reducer to realize a sealing along a circumferential surface and/or a radial surface of the connection thereof, so as to solve the technical problem that the walking drive mechanism of the prior art is prone to foreign body impurities to enter and cause the reducer to fail because there is a gap between the motor and the reducer in a harsh environment.
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In an embodiment, the reducer 8200 mentioned above is a planetary reducer 8200, and a characteristic of planetary reducer 8200 can generate a larger reduction transmission ratio with a smaller axial size, and its axial length may even be less than a width of the walking wheel 201, so the reducer 8200 can be completely hidden in the walking wheel 201, which then increases a utilization rate of a lateral space.
In an embodiment, a gap distance between the first sealing component 8300 and the outer tooth ring end surface 8211 is from 1 mm to 3 mm, and this gap distance may be 1 mm, 2 mm or 3 mm for example.
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In an embodiment, a gap distance between the first deck surface 8331 and the second deck surface 8421 is from 1 mm to 3 mm, and this gap distance may be 1 mm, 2 mm or 3 mm for example.
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An RTK base station 1820 used in the disclosure is a portable RTK base station, which may be transported to different lawns with the mower 1, and then mounted on a fixed anchor point 20 (
In an embodiment, the controller 240 may control the mower 1 to perform operations or/and functions such as driving, map calibrating/calling/offset, and mowing operations, so as to realize an intelligent driving function of mower 1. The controller 240 may further include a map generation and management module, a trajectory planning module, and a mowing operation control module etc. The controller 240 may also be referred to as an intelligent driving controller or controller in this disclosure.
The positioning device 1814 may be the GNSS mobile station, other satellite positioning mobile, or other positioning device that may be matched with the RTK base station to realize a real-time positioning function. The positioning device 1814 further includes the GNSS receiving antenna 1812 arranged on the standing frame 1819 of the mower 1. The autonomous controller 1815 applies the differential data to correct the GNSS positioning coordinates (which means the positioning coordinates of the mower 1) and outputs them to the controller 240.
Please refer to
The hand-held terminal 1830 receives state information fed back by the mower 1, and then sends a corresponding command to the mower 1 to control it to execute the command sent. The state information fed back by the mower 1 includes a positioning state and alarm information. The positioning state of the mower 1 received by the hand-held terminal 1830 includes a high-precision positioning state and a non-high-precision positioning state. The high-precision positioning state refers to an RTK fixed solution, and the non-high-precision positioning state refers to an RTK floating-point solution. In an embodiment, the high-precision positioning state indicates that the mower 1 is in a centimeter-level positioning state. The alarm information refers to various fault states of mower 1, such as overcurrent of a blade current, overcurrent of a walking motor, a control temperature being too high, etc.
The commands sent by the hand-held terminal 1830 are: a command to continue a current state, a command to calibrate the map, a command to calibrate a non-mowing area (which means a non-working area), a command to increase the non-mowing area, a command that the map boundary demarcation is completed, a command that a calibration of the non-mowing area is completed, etc. The hand-held terminal 1830 is a medium of communication between the operator and the mower 1, and it may send commands to the mower 1 through a wireless communication way such as Bluetooth, Wi-Fi, Lora, etc.
In this disclosure, a GNSS positioning mobile station (which means the positioning device) 14 collects positioning coordinates of mower 1 in real time. When the mower performs a map calibration on the lawn to be mowed (which may be a working area) 185, the positioning device 1814 applies the differential data from the RTK base station 1820 to correct positioning coordinate data of the mower 1, and sends the corrected positioning coordinate data to controller 240. The controller 240 applies the corrected positioning coordinate data and base station coordinate data from the RTK base station 1820 to generate a calibration map of the lawn to be mowed, and sends the calibration map to a saving device for saving. When the mower 1 mows the lawn 185 to be mowed, the controller 240 compares RTK base station coordinates in the calibration map with the RTK base station coordinates of the current RTK base station 1820. If a deviation value obtained by the comparison is less than a preset value, then the calibration map is offset accordingly, and a new map is generated for a use of mowing operation. If the deviation value obtained by the comparison is greater than the preset value, an abnormal position of the RTK base station 1820 will be reported as an alarm. The preset value may be 1.5 m.
When the positioning state information received by the hand-held terminal 1830 is high-precision positioning state information, the hand-held terminal 1830 sends a corresponding execution command to the mower 1. The execution command may be one of commands such as the command to continue a current state, the command to calibrate the map, the command to calibrate the non-mowing area, the command to increase the non-mowing area, the command that the map boundary demarcation is completed, the command that the calibration of the non-mowing area is completed, etc.
When the positioning state information received by the hand-held terminal 1830 is non-high-precision positioning state information, the hand-held terminal 1830 sends a stop command to the mower.
When the hand-held terminal 1830 receives alarm information, the hand-held terminal 1830 displays the alarm information and notifies the operator, and the operator sends corresponding processing command to the mower 1 through the terminal control device.
Please refer to
After completing the map of the mowing area 1852, the hand-held terminal 1830 may further send the command to calibrate the non-mowing area to the mower 1, and the non-mowing area is an obstacle 1855, 1856 and the like. The mower 1 walks along a boundary of the non-mowing area (obstacle) 1855 or 1856, the Positioning device 1814 collects the positioning coordinates of the mower 1 in real time, and the controller 240 monitors whether the mower 1 (or positioning system) is in the high-precision positioning state in real time. If it is not in the high-precision positioning state, then a feedback that the positioning system is abnormal is sent to the hand-held terminal 1830. If it is in the high-precision positioning state all the time, then the positioning coordinates of the mower 1 is continuously recorded until the hand-held terminal 1830 sends a non-mowing area calibration completion command to the mower 1. The controller 240 generates a calibration map of the non-mowing area (obstacle, also the non-working area) 1855 or 1856 according to the positioning coordinates of the mower 1 received from the start calibration command and the end calibration command, compares it with the calibration map of the mowing area 1852 to verify whether boundaries of the non-mowing area 1855 and 1856 exceed the boundary 1850 of the mowing area 1852 (a plot to be calibrated) (or verify whether the boundaries of the non-mowing area 1855 and 1856 conflict with the boundary of the mowing area 1852 (the plot to be calibrated), and correspondingly store a boundary calibration map of the non-mowing areas 1855 and 1856 and the RTK base station coordinates sent by the RTK base station 1820.
The calibration map of the mowing area 1852 and the calibration map of the non-mowing area 1855 or 1856 may be stored on the controller 240, the hand-held terminal 1830, or the server 1840 that may communicate with the mower and the hand-held terminal 1830.
In this disclosure, when the calibration map of the mowing area 1852 is offset accordingly, the calibration map is first called by the saving device and sent to a map generation and management module of the controller 240. The map generation and management module calculates a difference between the RTK base station coordinates in the calibration map and the RTK base station coordinates of the current RTK base station 1820, and then adds coordinates of all points in the calibration map to the calculated difference, thereby generating a new map after the offset. The mower 1 may carry out the mowing operation according to this new map.
Further, the disclosure provides a map calibration and a calling method for the mower 1, which includes:
S1: calibrating the map and generating processes/operations, which may be referred to
The controller 240 monitors information whether the mower 1 is in the high-precision positioning state in real time. If it is not in the high-precision positioning state, then a feedback that the positioning system is abnormal is sent to the hand-held terminal 1830. If it is in the high-precision positioning state all the time, then the positioning coordinates of the mower 1 is continuously recorded until the hand-held terminal 1830 sends the map boundary calibration completion command. The controller 240 generates and stores the calibration map of the mowing area 1852 according to the positioning coordinates of the mower 1 received from the start calibration command and the end calibration command, and correspondingly stores the RTK base station coordinates sent by the RTK base station 1820 simultaneously.
After completing the calibration of the map mentioned above, the hand-held terminal 1830 may further send the command to calibrate the non-mowing area to the mower 1. The mower 1 walks along a boundary of the non-mowing area (for example the obstacle) 1855 or 1856, the map generation and management module of the mower 1 monitors whether the autonomous controller 1815/the mower 1 (or monitoring the positioning system) is in the high-precision positioning state in real time. If it is not in the high-precision positioning state, then a feedback that the positioning system is abnormal is sent to the hand-held terminal 1830. If it is in the high-precision positioning state all the time, then the positioning coordinates of the mower 1 is continuously recorded until the hand-held terminal 1830 sends a non-mowing area calibration completion command to the mower 1. The controller 240 generates the calibration map of the non-mowing area 1855 of 1856 according to the positioning coordinates of the mower 1 received from the start calibration command to an end calibration command, verifies whether the non-mowing area 1855 or 1856 conflicts with the boundary 1850 of the mowing area (which means that whether it exceeds the boundary 1850 of the mowing area), and correspondingly stores the RTK base station coordinates sent by the RTK base station 1820 simultaneously.
S1 further includes comparing the calibration map of the non-mowing area 1855 or 1856 with the calibration map of the mowing area 1852 to verify whether the non-mowing area 1855 or 1856 is within the boundary of the mowing area 1852.
In an embodiment of
S2 of the map calibration and the calling method for the mower 1 of the disclosure is a calling process of the calibration map. When the mower 1 performs the mowing operation on the mowing area 1852, the controller 240 calls the stored calibration map from the saving device. When the map is called, the controller 240 of the mower 1 is required to calculate a deviation (which means the difference) between the positioning (position) coordinates of the RTK base station 1820 and the corresponding position coordinates of the RTK base station in the calibration map, and the calibration map of the lawn 185 is offset correspondingly according to the deviation (differences) of the two RTK base stations.
And a preset value of a deviation range of the RTK base station is set according to a standard deviation of a GNSS single-point positioning accuracy. When the deviation exceeds the preset value, the operator is reminded that the position of the base station is abnormal, and the operator needs to check whether the RTK base station is placed on a fixed anchor point.
An embodiment of
S3 of the method of the disclosure is a process of offsetting the calibration map. The controller 240 compares RTK base station coordinates in the calibration map with the RTK base station coordinates of the current RTK base station 1820. If a deviation value obtained by the comparison is less than the preset value (for example 1.5 m), then the calibration map is offset accordingly, and the new map is generated for the use of mowing operation. If the deviation value obtained by the comparison is greater than the preset value (for example 1.5 m), the abnormal position of the RTK base station 1820 will be reported as an alarm.
In this disclosure, the saving device calls and sends the calibration map to a control device. The control device calculates the difference between the RTK base station coordinates in the calibration map and the RTK base station coordinates of the current RTK base station, and then adds the coordinates of all points in the calibration map to the calculated difference, thereby generating the new map after the offset. The mower may carry out the mowing operation according to this new map.
The following is an example of an offset method of the calibration map for the disclosure:
The boundaries of the obstacle m of the new map are {((mOX1-detaX),(mOY1-detaY)),((mOX2-detaX),(mOY2-detaY)), . . . , ((mOXn-detaX),(mOYn-detaY))},
Similarly, an example of a map offset method with elevation (altitude) information:
The boundaries of the new map generated after the offset while mowing are {((MX1-detaX), (MY1-detaY), (MH1-detaH)), ((MX2-detaX), (MY2-detaY), (MH2-detaH)), . . . , ((MXn-detaX),(MYn-detaY)), (MHn-detaH))},
The boundaries of the obstacle 1 of the new map are {((1OX1-detaX),(1OY1-detaY), (1OH1-detaH)),((1OX2-detaX),(1OY2-detaY), (1OH2-detaH)), . . . , ((1OXn-detaX),(1OYn-detaY)), (1OHn-detaH))},
The boundaries of the obstacle 2 of the new map are {((2OX1-detaX),(2OY1-detaY), (2OH1-detaH)),((2OX2-detaX),(2OY2-detaY), (2OH2-detaH)), . . . , ((2OXn-detaX),(2OYn-detaY), (2OHn-detaH))}, . . .
The boundaries of the obstacle m of the new map are {((mOX1-detaX),(mOY1-detaY), (mOH1-detaH)),((mOX2-detaX),(mOY2-detaY), (mOH2-detaH)), . . . , ((mOXn-detaX),(mOYn-detaY)), (mOHn-detaH))},
In summary, the disclosure provides a control method for a working device system of (for example the mower 1), which includes following operations:
In an embodiment, when calling the calibration map,
In an embodiment of the disclosure, the disclosure further provides the working device system. It may be used not only for the mower 1, but also for other working devices or cases where a map needs to be calibrated on a certain area of land, and the calibrated map needs to be called later (for example, for navigation). The working device system of the disclosure includes the RTK base station 1820 and the working device 1. The working device 1 may be the mower 1, for example. The working device includes the controller 240, the positioning device 14 and the saving device communicating with the RTK base station 1820. The positioning device 14 collects positioning coordinates of a map calibration and calling system 1 in real time. When the map calibration and calling system 1 performs the map calibration on an area to be calibrated 185, the positioning device 14 applies the differential data from the RTK base station 1820 to correct positioning coordinate data of the map calibration and calling system 1, and sends the corrected positioning coordinate data to controller 240. The controller 240 applies the corrected positioning coordinate data and base station coordinate data from the RTK base station 1820 to generate a calibration map of the area to be calibrated 185, and sends the calibration map to a saving device for storage. When the map calibration and calling system is used to navigate the area to be calibrated 185 (i.e., the working area, or the area to be mowed) or when it is necessary to use a completed calibration map of the area to be calibrated 185, the controller 240 compares RTK base station coordinates in the calibration map with the RTK base station coordinates of the current RTK base station 1820. If a deviation value obtained by the comparison is less than a preset value, then the calibration map is offset accordingly, and a new map is generated for navigation or other purpose. If the deviation value obtained by the comparison is greater than the preset value, the abnormal position of the RTK base station will be reported as an alarm.
The RTK base station 1820 is the portable RTK base station 1820, which may be arranged at a fixed anchor point 20 near the area 185 to be calibrated.
The controller 240 and the positioning device 14 communicate with the RTK base station 1820 through the communication device 1818. The communication device 1818 receives the differential data and RTK base station coordinate data from the RTK base station 1820, and sends the differential data to the positioning device 14 and the RTK base station coordinate data to the controller 240.
The communication device 1818 includes a radio station device mounted on the map calibration and calling system, and the positioning device 14 may be a mobile satellite positioning station.
The map calibration and calling system of the disclosure further includes the terminal control device 3. It may receive the state information fed back by the map calibration and calling system, and send the corresponding control command to the system. The state information includes the positioning state information and alarm information of the map calibration and calling system. The positioning state information includes the high-precision positioning state information and the non-high-precision positioning state information. The high-precision positioning state indicates that the map calibration and calling system is in a centimeter-level positioning state. The alarm information indicates that fault state information of the map calibration and calling system.
When the positioning state information received by the terminal control device 3 is the high-precision positioning state information, the terminal control device 3 sends the corresponding execution command to the map calibration and calling system 1. The execution command may include the command to continue the current state and the command to calibrate the map.
When the positioning state information received by the terminal control device 3 is non-high-precision positioning state information, the terminal control device 3 sends the stop command to the map calibration and calling system. When the terminal control device 3 receives the alarm information, the terminal control device 3 displays the alarm information and notifies the operator, and the operator sends corresponding processing command to the system 1 through the terminal control device 3.
In an embodiment of the disclosure, the communication device 1818 further includes the Bluetooth device 17 and the 4G-GPS module 1816 for wireless communication with the terminal control device 3. The 4G-GPS module 1816 may upload information of the controller 240 to the server 1840. Then the server 1840 may send the information of the controller 240 to the terminal control device 3, and a command of the terminal control device 3 may also be sent to the server 1840 through the mobile network, and further sent to the controller 240.
When the map calibration and calling system 1 draws the calibration map of the area 185 to be calibrated, the system walks along the boundary 1850 of the area 185 to be calibrated, and the positioning device 14 collects the positioning coordinates of the system in real time. The controller 240 monitors whether the system 1 is in the high-precision positioning state in real time. If it is not in the high-precision positioning state, then a feedback that the positioning system is abnormal is sent to the terminal control device 3. If it is in the high-precision positioning state all the time, then the positioning coordinates of the system 1 is continuously recorded until the terminal control device 3 sends a map boundary calibration completion command. The controller 240 generates a calibration map of the area 185 to be calibrated according to the positioning coordinates of the system 1 received from the start calibration command to the end calibration command, stores the calibration map to the saving device, and correspondingly stores the RTK base station coordinates sent by the RTK base station 1820 simultaneously.
When the calibration map of the area 185 to be calibrated is completed, the terminal control device 3 may further send an obstacle calibration command to the system. The system walks along the boundary of the obstacle (which means non-working area, or non-mowing area) 1855, 1856, and the positioning device 14 collects the positioning coordinates of the system 1 in real time. The controller 240 monitors whether the system is in the high-precision positioning state in real time. If it is not in the high-precision positioning state, then a feedback that the positioning system is abnormal is sent to the terminal control device 3. If it is in the high-precision positioning state all the time, then the positioning coordinates of the system 1 is continuously recorded until the terminal control device 3 sends an obstacle calibration completion command to the system. The controller 240 then compares the calibration map of obstacles 1855 and 1856 with the calibration map of the area 185 to be calibrated to verify whether the obstacles 1855 and 1856 are within the boundary 1850 of the area 185 to be calibrated. Then, a calibration map of the obstacle 1855, 1856 is generated and stored according to the positioning coordinates of the system 1 received from the start calibration command to the end calibration command, and stores the RTK base station coordinates sent by the RTK base station 1820 simultaneously.
When the calibration map of the area 185 to be calibrated is offset accordingly, the calibration map is first called by the saving device and sent to the controller 240. The controller 240 calculates the difference between the RTK base station coordinates in the calibration map and the RTK base station coordinates of the current RTK base station 1820, and then adds the coordinates of all points in the calibration map to the calculated difference, thereby generating the new map after the offset. The system may be used for the navigation or other purpose according to this new map.
Please refer to
In summary, the disclosure provides the mower with the RTK base station and the map calibration and calling method and system of the mower. A problem of a position drift of the RTK base station is solved when repositioned each time by offsetting the map of the mowed lawn, and the calibration map of the lawn (including the base station coordinates of the RTK base station) is generated and stored. The mower automatically calls and offsets the calibration map for subsequent mowing operations when the lawn is mowed next time, so that there is no need to manually input new coordinates when a lawn map deviation occurs, and an automation of the lawn mowing operation is realized, which greatly improves work efficiency.
Further, the disclosure provides the working device system mentioned above and the control method thereof. It may be used not only for a calibration and calling the map of the mower, but also for other working devices or cases where a map needs to be mapped on a certain area of land, and the calibrated map needs to be called later (for example, for navigation).
Therefore, the disclosure effectively overcomes some practical problems in the prior art, thereby having high utilization value and use significance. The above embodiments only illustrate principles and effects of the disclosure, but are not intended to limit the disclosure. Anyone familiar with this technology may modify or change the above embodiments without departing from a scope of the disclosure. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the technical field without departing from the technical ideas disclosed in the disclosure shall still be covered by the claims of the disclosure.
| Number | Date | Country | Kind |
|---|---|---|---|
| 202211131924.6 | Sep 2022 | CN | national |
| 202211131936.9 | Sep 2022 | CN | national |
| 202211131983.3 | Sep 2022 | CN | national |
| 202211131985.2 | Sep 2022 | CN | national |
| 202211132242.7 | Sep 2022 | CN | national |
| 202222456692.3 | Sep 2022 | CN | national |
| 202222457245.X | Sep 2022 | CN | national |
| 202222463616.5 | Sep 2022 | CN | national |
| 202222464012.2 | Sep 2022 | CN | national |
| 202222464407.2 | Sep 2022 | CN | national |
| 202222464517.9 | Sep 2022 | CN | national |
| 202222464795.4 | Sep 2022 | CN | national |
| 202222464944.7 | Sep 2022 | CN | national |
| 202222465612.0 | Sep 2022 | CN | national |
| 202222467150.6 | Sep 2022 | CN | national |
| 202211639732.6 | Dec 2022 | CN | national |
| 202223422873.0 | Dec 2022 | CN | national |
| 202321711252.6 | Jun 2023 | CN | national |
The present application is a continuation Application of PCT application No. PCT/CN2023/119054 filed on Sep. 15, 2023, which claims the benefit of CN202211132242.7 filed on Sep. 16, 2022, CN202222465612.0 filed on Sep. 16, 2022, CN202222467150.6 filed on Sep. 16, 2022, CN202222464944.7 filed on Sep. 16, 2022, CN202222464012.2 filed on Sep. 16, 2022, CN202222464795.4 filed on Sep. 16, 2022, CN202222463616.5 filed on Sep. 16, 2022, CN202222464407.2 filed on Sep. 16, 2022, CN202211131983.3 filed on Sep. 16, 2022, CN202211131985.2 filed on Sep. 16, 2022, CN202222464517.9 filed on Sep. 16, 2022, CN202211131936.9 filed on Sep. 16, 2022, CN202211131924.6 filed on Sep. 16, 2022, CN202222457245.X filed on Sep. 16, 2022, CN202222456692.3 filed on Sep. 16, 2022, CN202211639732.6 filed on Dec. 19, 2022, CN202223422873.0 filed on Dec. 19, 2022, and CN202321711252.6 filed on Jun. 29, 2023. All the above are hereby incorporated by reference for all purposes.
| Number | Date | Country | |
|---|---|---|---|
| Parent | PCT/CN2023/119054 | Sep 2023 | WO |
| Child | 19080798 | US |
