CN-115589830-B - Rotary pressure detection device for mowing robot and mowing robot

Abstract

The invention discloses a rotary pressure detection device for a mowing robot and the mowing robot, wherein the pressure detection device is arranged on a base of the mowing robot and comprises a contact unit and a pressure detection assembly, the lower part of the contact unit is positioned outside the base, the upper part of the contact unit is in butt joint with the pressure detection assembly, the pressure detection assembly comprises a pressure sensor, when the contact unit touches an obstacle, the pressure sensor can be triggered to obtain a detection pressure value, the pressure detection assembly is positioned in the base, a groove is formed in the base, the upper part of the contact unit is in butt joint with the pressure detection assembly through the groove, and the contact unit can rotate to trigger the pressure sensor in the pressure detection assembly after touching the obstacle. When contacting an obstacle, the contact unit contacts the obstacle and triggers the pressure detection assembly to realize the detection of a pressure value, so that the purpose of automatically processing the obstacle met by the mowing robot can be realized in a mode of combining the pressure detection and the height detection.

Inventors

• DING GUANGHUA
• CHENG MENGZHE
• LIU KAI

Assignees

• 南京苏美达智能技术有限公司

Dates

Publication Date

20260512

Application Date

20211115

Claims (3)

1. 1. A rotary pressure detection device for a mowing robot, which is arranged on a base (2) of the mowing robot, and is characterized by comprising a contact unit and a pressure detection assembly, wherein the lower part of the contact unit is positioned outside the base (2), the upper part of the contact unit is in butt joint with the pressure detection assembly, the pressure detection assembly comprises a pressure sensor, When the contact unit touches an obstacle, the contact unit can trigger the pressure sensor in the pressure detection assembly to obtain a detection pressure value, The contact unit is a rotary contact piece (12), a rotary groove (14) is formed in the base (2), the pressure detection assembly comprises a cover body, a fixed block (15) and a pressure sensor which are positioned in the cover body, The rotary contact (12) comprises a rotating shaft (1201), connecting shafts (1204) are arranged at two ends of the rotating shaft (1201), a flywheel (1202) and a contact rod (1203) are arranged on the side portions of the rotating shaft (1201), an arc-shaped groove (1401) attached to the rotating shaft (1201) is formed in the main body of the rotating groove (14), positioning grooves (1403) are formed in the two ends of the arc-shaped groove (1401) corresponding to the connecting shafts (1204), through openings (1402) are formed in the arc-shaped groove (1401), the contact rod (1203) on the rotary contact (12) penetrates through the openings (1402) to extend to the outside of the base (2), the rotating shaft (1201) and the connecting shafts (1204) are respectively embedded into the arc-shaped groove (1401) and the positioning grooves (1403), limiting grooves (1101) are also formed in the cover body corresponding to the rotating shaft (1201), when the cover body is mounted on the base (2), the connecting shafts (1204) are rotatably arranged in a space formed by combining the limiting grooves (1101) and the positioning grooves (1403), the pressure sensors are arranged on the fixing blocks (15), and a boss (1205) which is in contact with the flywheel opposite to the positions of the pressure sensors; The pressure detection assembly further comprises a reset piece (13), wherein the reset piece (13) is an elastic sheet body, one end part of the reset piece is fixed on the fixed block (15), and the other end part of the reset piece is abutted against the flywheel (1202) to push the flywheel (1202) away from the pressure sensor; a second redundant stroke is arranged between the contact table (1205) and the pressure sensor, and the size of the second redundant stroke is set so that the contact table (1205) just contacts the pressure sensor when the lower end part of the contact rod (1203) swings upwards to the lowest ground height of the cutter head of the mower.
2. 2. The rotary pressure detection device for a mowing robot according to claim 1, wherein the pressure detection assembly is located in the base (2), a groove is formed in the base (2), and the upper portion of the contact unit is in butt joint with the pressure detection assembly through the groove.
3. 3. A mowing robot, characterized in that it comprises a rotary pressure detection device for a mowing robot according to any one of claims 1-2.

Description

Rotary pressure detection device for mowing robot and mowing robot The application is a divisional application of patent with application date 2021, 11-15, application number 202111348045.4 and the name of 'a pressure detection device and self-walking equipment'. Technical Field The invention belongs to the technical field of intelligent equipment control, and particularly relates to a rotary pressure detection device for a mowing robot and the mowing robot. Background With the application of new technologies, the mower technology is increasingly intelligent, and the existing intelligent mower generally generates an electronic fence on a lawn pre-buried coil or constructs a virtual map through image recognition, navigation positioning and the like, so that the mower performs mowing work in a delineating area. However, the existing intelligent mower has poor capability of handling obstacles, is convenient to turn around when encountering common obstacles, but cannot cut grass in areas nearby the obstacles to form a missed cutting area, so that the mowing efficiency is low, and can not be detected and identified when encountering short obstacles, the intelligent mower directly passes through objects with small volume and large hardness such as stones and tree piles to perform mowing operation, and the cutter blade is easy to wear, so that the mower is trapped and can cause equipment failure and even damage when serious. Disclosure of Invention The invention aims to provide a rotary pressure detection device for a mowing robot and the mowing robot, so that equipment can detect hardness of an obstacle, and comprehensively judge how to avoid the obstacle according to a pressure detection result. In order to achieve the above purpose, the technical scheme adopted by the invention is as follows: the rotary pressure detection device for the mowing robot is arranged on a base of the mowing robot and comprises a contact unit and a pressure detection assembly, wherein the lower part of the contact unit is positioned outside the base, the upper part of the contact unit is in butt joint with the pressure detection assembly, the pressure detection assembly comprises a pressure sensor, When the contact unit touches an obstacle, the contact unit can trigger the pressure sensor in the pressure detection assembly to obtain a detection pressure value, The contact unit is a rotary contact piece, a rotary groove is formed in the base, the pressure detection assembly comprises a cover body, a fixed block and a pressure sensor which are positioned in the cover body, The rotary contact piece comprises a rotating shaft, connecting shafts are arranged at two ends of the rotating shaft, a flywheel and a contact rod are arranged at two sides of the rotating shaft, a rotary groove main body is an arc-shaped groove which is attached to the rotating shaft, a positioning groove is formed in the two ends of the arc-shaped groove and corresponds to the connecting shafts, a through opening is formed in the arc-shaped groove, the contact rod on the rotary contact piece penetrates through the opening to extend to the outside of the base, the rotating shaft and the connecting shaft are respectively embedded into the arc-shaped groove and the positioning groove, a limiting groove is also formed in the cover body corresponding to the rotating shaft, when the cover body is mounted on the base, the connecting shaft is rotatably arranged in a space formed by combining the limiting groove and the positioning groove, a pressure sensor is arranged on a fixing block, and a convex contact table is arranged at the position, opposite to the pressure sensor, on the flywheel. Further, the pressure detection assembly is located in the base, a groove is formed in the base, and the upper portion of the contact unit is in butt joint with the pressure detection assembly through the groove. Further, the pressure detection assembly further comprises a reset piece, wherein the reset piece is an elastic sheet body, one end part of the reset piece is fixed on the fixed block, and the other end part of the reset piece abuts against the flywheel to push the flywheel away from the pressure sensor. Further, a second redundant stroke is arranged between the contact platform and the pressure sensor, and the second redundant stroke is set to be in contact with the pressure sensor just when the lower end part of the contact rod swings upwards to the lowest ground height of the cutter head of the mower. A lawn mowing robot comprising the rotary pressure detection device for a lawn mowing robot as described above. Compared with the prior art, the invention has the remarkable advantages that: (1) The invention provides a pressure detection device which can be arranged at the bottom of equipment aiming at the problem that the equipment cannot know the hardness of an obstacle, and can realize the detection of a pressure value by contacting the obstacle through a contact unit and t