Flat ground side slope profiling mower and control method thereof

Abstract

The invention discloses a flat ground side slope profiling mower and a control method thereof. The flat land side slope profiling mower comprises a movable chassis, a side slope weeding device, a flat land weeding device, an obstacle avoidance weeding device and a control system. The side slope weeding device is arranged at the top of the movable chassis and comprises a mechanical arm and a side slope weeding mechanism; the land leveling and weeding device is arranged on the front face of the movable chassis and comprises a land leveling and mowing box and a land leveling and mowing mechanism. The two groups of obstacle avoidance and weeding devices are arranged on the two sides of the flat ground mowing box, and each obstacle avoidance and weeding device comprises a first wheel seat arranged on the flat ground mowing box, a second wheel seat arranged on the first wheel seat and an obstacle avoidance and weeding mechanism arranged in the second wheel seat; the first wheel seat is hinged to the flat ground mowing box. The profiling mower for the flat ground and the side slope has the advantages of being suitable for operation on different terrains such as the flat ground and the sloping field, meanwhile, accurate mowing operation can be achieved, and the mowing efficiency can be improved.

Description

Technical Field

[0001] The invention relates to the technical field of mowing, in particular to a flat ground side slope profiling mower and a control method thereof. Background Art

[0002] In scenes such as lawn maintenance, agricultural production, and mountain greening, mowing operations face the challenges of complex and diverse terrains. Traditional mowers are mostly suitable for flat terrains. When operating on special terrains such as side slopes, they are prone to problems such as uneven mowing, tool damage, poor body stability, and even rollover. At the same time, there is currently a lack of effective terrain adaptive control methods, making it difficult for traditional mowers to achieve precise mowing operations, which reduces mowing efficiency and increases equipment loss and operation risks. Summary of the invention

[0003] In order to overcome the deficiencies of the prior art, the present invention provides a flat ground side slope profiling mower, which has the advantages of being suitable for operations on different terrains such as flat land and sloping land, and can achieve precise mowing operations, which is conducive to improving mowing efficiency.

[0004] A second object of the present invention is to provide a control method for a flat side slope profiling mower.

[0005] The technical solution of the present invention to solve the above technical problems is:

[0006] A flat-ground side slope profiling mower comprises a mobile chassis and a side slope weeding device, a flat-ground weeding device, an obstacle avoidance weeding device and a control system arranged on the mobile chassis, wherein the side slope weeding device is arranged on the top of the mobile chassis, and comprises a mechanical arm arranged on the mobile chassis and a side slope weeding mechanism arranged at the end of the mechanical arm; the flat-ground weeding device is arranged on the front of the mobile chassis, and comprises a flat-ground mowing box arranged on the mobile chassis and a flat-ground mowing mechanism arranged in the flat-ground mowing box; the obstacle avoidance weeding device comprises two groups, and the two groups of obstacle avoidance weeding devices are arranged on both sides of the flat-ground mowing box, and comprise a first wheel seat arranged on the flat-ground mowing box, a second wheel seat arranged on the first wheel seat and an obstacle avoidance weeding mechanism arranged in the second wheel seat; wherein the first wheel seat is hinged in the flat-ground mowing box.

[0007] Preferably, the mobile chassis includes a chassis and a crawler walking mechanism arranged on both sides of the chassis, wherein the crawler walking mechanism includes a crawler mounting frame arranged on the chassis, a transmission crawler arranged on the crawler mounting frame, and a walking drive mechanism for driving the transmission crawler to move, wherein the walking drive mechanism includes a buffer seat installed on the crawler mounting frame, a crawler driving wheel, and a walking power mechanism for driving the crawler driving wheel to rotate; wherein the middle part of the buffer seat is hinged on the crawler mounting frame; the crawler driving wheel is installed at the bottom of the buffer seat, and the top of the buffer seat is connected to the crawler mounting frame through a buffer spring, and the elastic force of the buffer spring causes the buffer seat to swing downward to cause the crawler driving wheel to press the transmission crawler.

[0008] Preferably, the side slope weeding mechanism comprises a driving cylinder and a plurality of side slope weeding components arranged at the end of the mechanical arm, wherein a driving device for driving each group of side slope weeding components to rotate and lift is arranged in the driving cylinder, and the driving devices are multiple groups, and the multiple driving devices correspond to the multiple groups of side slope weeding components one by one; the multiple groups of side slope weeding components are arranged in a circle; each group of side slope weeding components is connected to the control shaft in each group of driving devices in the driving cylinder through a connecting plate; the side slope weeding components comprise a mowing disc arranged on the connecting plate, a mowing wheel arranged in the mowing disc, and a control shaft for A mowing drive mechanism for driving the mowing wheel to rotate; wherein two groups of croppers are arranged at the bottom of the mowing disc, and a control mechanism for controlling the opening angle of the two groups of croppers is fixedly installed inside the mowing disc, wherein the control mechanism includes a control box and a first electric push rod arranged in the control box; the two groups of croppers are rotatably connected in the control box through a rotating shaft; the telescopic rod of the first electric push rod is connected to the two groups of croppers through two groups of pull rods; one end of the pull rod is installed on the telescopic rod of the first electric push rod, and the other end is connected to the crop divider.

[0009] Preferably, each set of driving devices comprises a second electric push rod installed in the driving cylinder, and a fixing block is fixedly installed on the output end of the second electric push rod; a driving rod is installed at the bottom end of the fixing block, and an external thread structure is provided on the outer side of the driving rod, and a spiral groove is provided on the upper end of the control shaft; an internal thread structure matching with the external thread structure of the driving rod is provided in the spiral groove; an avoidance groove for avoiding the control shaft is provided at the bottom of the driving cylinder; a limiting mechanism for limiting the lifting stroke of the control shaft is provided in the avoidance groove, and the limiting mechanism comprises a third electric push rod arranged in the limiting groove, and the setting direction of the third electric push rod is perpendicular to the setting direction of the second electric push rod; The outer side surface of the control shaft is provided with an annular limit groove, and the annular limit groove is divided into multiple groups, and the multiple groups of annular limit grooves are equidistantly arranged along the axial direction of the control shaft; when the output end of the third electric push rod enters the annular limit groove on the control shaft, the second electric push rod drives the drive rod to enter the spiral groove of the control shaft to drive the control shaft to rotate; or, when the output end of the third electric push rod enters the annular limit groove on the control shaft, the second electric push rod drives the drive rod to enter the spiral groove of the control shaft, the output end of the third electric push rod exits the annular limit groove on the control shaft, and the second electric push rod drives the drive rod to move to drive the control shaft to rise and fall.

[0010] Preferably, the ground mowing mechanism includes a driving shaft arranged in the ground mowing box, an arc-shaped mowing blade arranged on the driving shaft, and a servo motor for driving the driving shaft to rotate, wherein the servo motor is installed on the left side wall of the ground mowing box, and the main shaft of the servo motor is connected to one end of the driving shaft; the other end of the driving shaft is rotatably connected to the right side wall of the ground mowing box; the arc-shaped mowing blades are divided into multiple groups, and the multiple groups of arc-shaped mowing blades are equidistantly arranged along the axial direction of the driving shaft, and each group of arc-shaped mowing blades is installed on the driving shaft through a mounting seat.

[0011] Preferably, the obstacle avoidance and weeding mechanism comprises a mowing blade and a mowing motor for driving the mowing blade to rotate, wherein the mowing motor is mounted on the second wheel seat, and a main shaft of the mowing motor is connected to the mowing blade.

[0012] Preferably, a buffer mechanism is arranged between the first wheel seat and the second wheel seat, and the buffer mechanism includes a telescopic cylinder arranged between the first wheel seat and the second wheel seat, wherein the telescopic cylinder is divided into multiple groups and the multiple groups of telescopic cylinders are arranged equidistantly along the circumferential direction of the first wheel seat or the second wheel seat; a mounting groove is arranged on the second wheel seat at a position corresponding to the telescopic cylinder; the telescopic cylinder includes an inner cylinder and an outer cylinder which can slide relative to each other and limit their positions, wherein the outer cylinder is installed in the mounting groove through a clamping block; and the inner cylinder is installed on the first wheel seat; a compression spring is arranged in the telescopic cylinder, and the upper end of the compression spring acts on the second wheel seat, and the lower end acts on the first wheel seat.

[0013] Preferably, the side slope weeding components are in three groups, and the three groups of side slope weeding components are arranged in a circle; correspondingly, the driving devices are also in three groups, and the three groups of driving devices are centrally installed in the driving cylinder.

[0014] Preferably, the control system includes an image acquisition system module, a posture detection module, a laser radar module and a main control module, wherein the image acquisition module is used to acquire depth information and image information of the working area; the posture detection module is used to detect the posture of the side slope weeding device; the laser radar module is used to detect the working area; the main control module is used to receive the depth information and image information acquired by the image acquisition module and the detection information of the working area by the laser radar module, and process them, so as to realize the control of the side slope weeding device, the flat ground weeding device and the obstacle avoidance weeding device.

[0015] A control method for a flat side slope profiling mower comprises the following steps:

[0016] Step S1: collecting image information and depth information of the working area through an image acquisition device, and transmitting the collected image information and depth information to a main control module;

[0017] Step S2: After receiving the image information and depth information of the working area, the main control module processes the information to obtain the slope information of the working area, thereby generating height and angle adjustment data, and transmitting the data to the side slope weeding device, thereby adjusting the posture of the side slope weeding device;

[0018] Step S3: After the posture of the side slope weeding device is adjusted, the main control module controls the side slope weeding device, the flat ground weeding device, and the obstacle avoidance weeding device to perform weeding operations.

[0019] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0020] 1. The flat side slope profiling mower of the present invention can adapt to complex terrains such as mountains and hills, and can perform profiling according to the slope of the mountain and the distribution of weeds, so as to flexibly respond to changes in different environments and ensure the mowing effect.

[0021] 2. The flat side slope profiling mower of the present invention can monitor the surrounding working environment in real time to realize automatic profiling mowing operation, which not only reduces manual intervention and improves the automation degree of the operation, but also provides a basis for the development of automatic mowing robots.

[0022] 3. The flat side slope contour mower of the present invention has good obstacle avoidance capability, can work efficiently in complex terrain and environments with many obstacles, and can reduce blade damage caused by obstacles. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a structural schematic diagram of the flat ground side slope profiling mower of the present invention;

[0024] Figure 2 It is a structural schematic diagram of the mobile chassis;

[0025] Figure 3 It is a structural schematic diagram of the side slope mowing component;

[0026] Figure 4 It is a top sectional view of the side slope mowing assembly;

[0027] Figure 5 for Figure 4 A magnified view of the structure at A;

[0028] Figure 6 This is an enlarged view of the internal structure of the drive cylinder;

[0029] Figure 7 It is a schematic diagram of the connection structure between the driving rod and the control shaft;

[0030] Figure 8 A cross-sectional view of a flat ground mowing box;

[0031] Fig. 9 A cross-sectional view of an obstacle avoidance mowing assembly;

[0032] Fig.10 for Figure 8 Enlarged view of the structure at point B in the figure. DETAILED DESCRIPTION

[0033] The present invention is further described in detail below in conjunction with embodiments and drawings, but the embodiments of the present invention are not limited thereto.

[0034] See also Figure 1-Figure 10The flat ground side slope profiling mower of the present invention comprises a mobile chassis 2 and a side slope weeding device, a flat ground weeding device 6, an obstacle avoidance weeding device 7 and a control system 3 arranged on the mobile chassis 2.

[0035] See also Figure 1-Figure 10 The mobile chassis 2 includes a chassis 1 and a crawler walking mechanism arranged on both sides of the chassis 1, wherein the crawler walking mechanism includes a crawler mounting frame 201 arranged on the chassis 1, a transmission crawler 202 arranged on the crawler mounting frame 201, and a walking drive mechanism for driving the transmission crawler 202 to move, wherein the walking drive mechanism includes a buffer seat 204 installed on the crawler mounting frame 201, a crawler driving wheel 203, and a walking power mechanism (such as a walking motor and a corresponding transmission mechanism) for driving the crawler driving wheel 203 to rotate; wherein the middle part of the buffer seat 204 is hinged on the crawler mounting frame 201; the crawler driving wheel 203 is installed at the bottom of the buffer seat 204, and the top of the buffer seat 204 is connected to the crawler mounting frame 201 through a buffer spring 205, and the elastic force of the buffer spring 205 prompts the buffer seat 204 to swing downward to prompt the crawler driving wheel 203 to press the transmission crawler 202.

[0036] With the above arrangement, when the mobile chassis 2 is traveling on an uneven road section, the uneven ground will cause the buffer seat 204 to swing clockwise or counterclockwise around its rotation fulcrum. Since the elastic force of the buffer spring 205 always causes the track driving wheel 203 to press against the transmission track 202, when the mobile chassis 2 moves from a low place to a high place, the ground will cause the track driving wheel 203 to move upward, causing the buffer seat 204 to swing counterclockwise while compressing the buffer spring 205. At this time, the track driving wheel 203 The driving crawler 202 is still pressed tightly against the driving crawler 202; when the mobile chassis 2 moves from a high place to a low place, the driving crawler 202 will move downward, and the buffer spring 205 prompts the buffer seat 204 to swing clockwise, so that the crawler driving wheel 203 moves downward, so that the crawler driving wheel 203 is still pressed tightly against the driving crawler 202; the elastic force of the buffer spring 205 is used to absorb the impact force caused by the bumps generated when the mobile chassis 2 walks on uneven ground, which can significantly reduce the impact of the bumps during walking on the mowing operation. In addition, when the mobile chassis 2 travels on uneven ground, its built-in buffer mechanism (buffer spring 205 and buffer seat 204) can buffer the vibration of the fuselage, so that the side slope weeding device, the flat ground weeding device 6 and the obstacle avoidance weeding device 7 can always maintain a relatively stable height and posture, thereby ensuring the uniformity of the mowing height, thereby improving the mowing quality.

[0037] In addition, the crawler-type mobile chassis 2 has a larger contact area and a more uniform pressure distribution on the ground compared with a traditional wheeled chassis, and can effectively adapt to flat land and side slopes of different slopes; whether it is soft grass or a slope with a certain slope, the crawler-type mobile chassis 2 can provide sufficient friction and grip, thereby ensuring that the flat land side slope contour mower of the present invention runs stably and is not prone to slipping or sinking.

[0038] In addition, the crawler mobile chassis 2 has efficient and stable power transmission: the crawler material has high strength and wear resistance, and cooperates closely with other driving wheels of the flat ground side slope profiling lawn mower of the present invention, thereby ensuring the efficiency and stability of power transmission; during the mowing operation, the flat ground side slope profiling lawn mower of the present invention will not have power interruption or poor transmission due to complex terrain, so that the flat ground side slope profiling lawn mower of the present invention can work continuously and stably.

[0039] See also Figure 1-Figure 10 The side slope weeding device is arranged on the top of the mobile chassis 2, including a mechanical arm 4 arranged on the mobile chassis 2 and a side slope weeding mechanism 5 arranged at the end of the mechanical arm 4; wherein,

[0040] The mechanical arm 4 automatically adjusts and controls the angle and height of the side slope weeding mechanism 5 through the control system 3. The mechanical arm 4 is made of high-strength alloy steel and has a length of 532 mm. The rectangular limit hole adopts a high-precision processing technology to ensure that the activity angle of the mechanical arm 4 is accurately controlled within the range of 0-70°; during the obstacle avoidance process, the mechanical arm 4 can respond quickly and accurately, driving the side slope mowing device to avoid obstacles, improving the sensitivity and reliability of obstacle avoidance, reducing the risk of collision between the mower and obstacles, and ensuring operation safety;

[0041] The side slope weeding mechanism 5 comprises a driving cylinder 501 and a plurality of side slope weeding components arranged at the end of the mechanical arm 4, wherein:

[0042] The driving cylinder 501 is provided with a driving device for driving each group of side slope weeding components to rotate and lift, and the driving device is multiple groups, and the multiple groups of driving devices correspond to the multiple groups of side slope weeding components one by one; the multiple groups of side slope weeding components are arranged in a circle; each group of side slope weeding components is connected to the control shaft 505 of the driving device in the driving cylinder 501 through a connecting plate 502; in this embodiment, the side slope weeding components are three groups, and correspondingly, the driving devices are also three groups;

[0043] Each set of side slope weeding components includes a mowing disc 503 arranged on the connecting plate 502, a mowing wheel 506 arranged in the mowing disc 503, and a mowing drive mechanism for driving the mowing wheel 506 to rotate; wherein, two sets of weed dividers 507 are arranged at the bottom of the mowing disc 503, and a control mechanism for controlling the opening angles of the two weed dividers 507 is fixedly installed inside the mowing disc 503, wherein the control mechanism includes a control box 508 and a first electric push rod 510 arranged in the control box 508; the two sets of weed dividers 507 are rotatably connected to the control box 508 through a rotating shaft 509 respectively; the telescopic rod of the first electric push rod 510 is connected to the two sets of weed dividers 507 respectively through two sets of pull rods 511; one end of the pull rod 511 is installed on the telescopic rod of the first electric push rod 510, and the other end is connected to the weed divider 507;

[0044] Each set of driving devices includes a second electric push rod 512 installed in the driving cylinder 501, and a fixing block 513 is fixedly installed at the output end of the second electric push rod 512; a driving rod 514 is installed at the bottom end of the fixing block 513, and an external thread structure is arranged on the outer side of the driving rod 514, and a spiral groove 515 is arranged on the upper end of the control shaft 505; an internal thread structure is arranged in the spiral groove 515 to match the external thread structure of the driving rod 514; the bottom of the driving cylinder 501 is provided with a thread structure for avoiding the control shaft 505. An avoidance groove for the control shaft 505; a limiting mechanism for limiting the lifting stroke of the control shaft 505 is arranged in the avoidance groove, and the limiting mechanism includes a third electric push rod 516 arranged in the limiting groove, and the setting direction of the third electric push rod 516 is perpendicular to the setting direction of the second electric push rod 512; an annular limiting groove 517 is arranged on the outer side of the control shaft 505, and the annular limiting groove 517 is multiple groups, and the multiple groups of annular limiting grooves 517 are equidistantly arranged along the axial direction of the control shaft 505;

[0045] Through the above arrangement, when adjusting the angle of the mowing disc 503:

[0046] The output end of the third electric push rod 516 enters the annular limiting groove 517 on the control shaft 505, and then the second electric push rod 512 drives the fixing block 513 to move downward, thereby driving the driving rod 514 to move downward and enter the spiral groove 515 of the control shaft 505. Since the control shaft 505 is limited by the third electric push rod 516, the control shaft 505 will not move downward; when the external thread structure of the driving rod 514 and the internal thread structure in the spiral groove 515 of the control shaft 505 cooperate, as the driving rod 514 continues to move downward, since the control shaft 505 cannot continue to move downward, the control shaft 505 can rotate under the action of the threaded connection structure (similar to the principle of a "rotating dehydrating mop"), thereby driving the rotation of the mowing disc 503, so as to adjust the angle of the side slope weeding assembly.

[0047] When adjusting the height of the mowing disc 503:

[0048] The output end of the third electric push rod 516 enters the annular limiting groove 517 on the control shaft 505, and then the second electric push rod 512 drives the fixing block 513 to move downward, thereby driving the driving rod 514 to move downward and enter the spiral groove 515 of the control shaft 505; at this time, the output end of the third electric push rod 516 withdraws from the annular limiting groove 517 on the control shaft 505, and the second electric push rod 512 drives the driving rod 514 to move downward, thereby driving the control shaft 505 to rise and fall synchronously, thereby driving the mowing disc 503 to rise and fall, thereby adjusting the height of the side slope weeding assembly.

[0049] In addition, the two groups of cropping devices 507 will be driven by the first electric push rod 510 to achieve opening and closing. Specifically, the piston rod of the electric push rod extends to drive the two groups of cropping devices 507 to rotate outward around the corresponding rotating axes, thereby causing the two groups of cropping devices 507 to open; the piston rod of the electric push rod retracts to drive the two groups of cropping devices 507 to rotate inward around the corresponding rotating axes, thereby causing the two groups of cropping devices 507 to close.

[0050] See also Figure 1-Figure 10The ground weeding device 6 is arranged on the front of the mobile chassis 2, including a ground mowing box 601 arranged on the mobile chassis 2 and a ground mowing mechanism arranged in the ground mowing box 601; wherein a direction wheel is installed at the bottom of the ground mowing box 601; the ground mowing mechanism includes a driving shaft 602 arranged in the ground mowing box 601, an arc-shaped mowing blade 605 and a servo motor 603 for driving the arc-shaped mowing blade 605 to rotate, wherein the The servo motor 603 is installed on the left side wall of the flat mowing box 601, and the main shaft of the servo motor 603 is connected to one end of the driving shaft 602; the other end of the driving shaft 602 is rotatably connected to the right side wall of the flat mowing box 601; the arc mowing blades 605 are multiple groups, and the multiple groups of arc mowing blades 605 are equidistantly arranged along the axial direction of the driving shaft 602; and each group of arc mowing blades 605 is installed on the driving shaft 602 through a mounting seat 604. The driving shaft 602 is driven to rotate by the servo motor 603, thereby driving the arc mowing blade 605 to rotate, thereby achieving weeding; in addition, when mowing on a slope, since the arc mowing blade 605 is used for mowing, compared with a traditional straight-edged blade, the arc mowing blade 605 can better cut into the grass when rotating, thereby improving the mowing efficiency and grass chopping effect; in addition, the power of the servo motor 603 is stably transmitted to the arc mowing blade 605 through the driving shaft 602, ensuring that the arc mowing blade 605 can rotate at a high speed and has sufficient power. The protective shell of the flat mowing box 601 can not only prevent grass clippings from splashing, but also protect the personal safety of the operator, and can also reduce the interference of external factors on the operation of the arc mowing blade 605 to a certain extent.

[0051] See also Figure 1-Figure 10 The obstacle avoidance and weeding device 7 is divided into two groups, and the two groups of obstacle avoidance and weeding devices 7 are arranged on both sides of the flat ground mowing box 601, including a first wheel seat 701 arranged on the flat ground mowing box 601, a second wheel seat 702 arranged on the first wheel seat 701, and an obstacle avoidance and weeding mechanism arranged in the second wheel seat 702; wherein the first wheel seat 701 is hinged in the flat ground mowing box 601; wherein the obstacle avoidance and weeding mechanism includes a mowing blade 705 and a mowing motor 704 for driving the mowing blade 705 to rotate, wherein the mowing motor 704 is installed on the second wheel seat 702, and the main shaft of the mowing motor 704 is connected to the mowing blade 705.

[0052] See also Figure 1-Figure 10A buffer mechanism is provided between the first wheel seat 701 and the second wheel seat 702, and the buffer mechanism includes a telescopic cylinder provided between the first wheel seat 701 and the second wheel seat 702, wherein the telescopic cylinder is a plurality of groups, and the plurality of groups of telescopic cylinders are arranged equidistantly along the circumferential direction of the first wheel seat 701 or the second wheel seat 702; a mounting groove 703 is provided on the second wheel seat 702 at a position corresponding to the telescopic cylinder; the telescopic cylinder includes an inner cylinder 707 and an outer cylinder 706 that can slide relative to each other and limit position, wherein the outer cylinder 706 is installed in the mounting groove 703 through a clamping block 709; the inner cylinder 707 is installed on the first wheel seat 701; a compression spring 708 is provided in the telescopic cylinder, and the upper end of the compression spring 708 acts on the second wheel seat 702, and the lower end acts on the first wheel seat 701. By providing the buffer mechanism, when the obstacle avoidance and weeding device 7 is traveling on a bumpy ground, the buffer mechanism can play a buffering role; in addition, since the outer cylinder 706 and the inner cylinder 707 can slide relative to each other, during weeding, the second wheel seat 702 (and the obstacle avoidance and weeding mechanism in the second wheel seat 702) can be adaptively lifted and lowered to adapt to weeding operations on grounds of different terrains. At the same time, since the first wheel seat 701 is rotatably connected to the flat ground weeding box, the first wheel seat 701 can be flexibly rotated when encountering obstacles, and the compression spring 708 can absorb the collision energy, thereby reducing the impact on the overall structure of the lawn mower, which is beneficial to protecting the lawn mower from damage, and also ensures the continuity of the lawn mowing operation.

[0053] See also Figure 1-Figure 10 The control system 3 includes an image acquisition system module, a posture detection module, a laser radar module and a main control module, wherein:

[0054] The image acquisition module is used to collect depth information and image information of the working area, and the image acquisition module is a depth camera; the depth camera is installed in the mechanical arm 4, so that it can accurately capture the depth information and clear RGB images of the working area without affecting the mowing operation; compared with randomly installed cameras, the depth camera can provide more comprehensive and accurate visual information of the working area, laying a solid foundation for subsequent terrain analysis and mowing path planning; in addition, the use of a high-resolution, wide-angle depth camera can obtain more detailed images and depth data of a wider range of working areas; in complex terrain, high resolution helps to identify minor terrain changes and obstacles, and a wide angle of view can reduce visual blind spots and improve the perception of the working environment, so that the mower can better adapt to different terrains and scenes.

[0055] The posture detection module is used to detect the posture of the side slope weeding device; the laser radar module is used to detect the working area, and the posture detection module is a posture sensor; the posture sensor adopts a high-precision MEMS inertial measurement unit IMU, which can accurately measure the angle, rotation angle and acceleration change of the lawn mower in three-dimensional space; whether it is working on a flat lawn or on a steep side slope, or when the lawn mower is driving at high speed or turning, it can provide stable and reliable posture data. This enables the lawn mower to understand its own posture in real time, provides a basis for precise control, has automatic calibration and error compensation functions, and can effectively reduce measurement errors caused by long-term use or environmental factors. As the operating time of the lawn mower increases, the posture sensor may drift to a certain extent. The automatic calibration and error compensation functions can correct these errors in time, ensure the accuracy of the posture data, and improve the accuracy and reliability of the lawn mower control.

[0056] The laser radar module has high-frequency scanning and long-distance detection capabilities. Its diffuse reflection light source transmitter and receiver have been optimized, and the energy of the emitted laser beam is concentrated and scattered. During mowing operations, the laser radar module can quickly scan a large area in front of and to the side of the mower, and warn of terrain changes and obstacles in advance; whether it is a large obstacle in the distance or a small obstacle that suddenly appears nearby, it can be detected in time, providing protection for the safe operation of the mower; the laser radar module can quickly and accurately calculate the laser flight time through advanced signal processing algorithms, and feed back the terrain information to the industrial computer in the form of high-speed, high-precision photoelectric signals; this efficient signal processing capability enables the laser radar to provide accurate terrain information in real time in complex environments, providing timely data support for the mower's contour control and obstacle avoidance operations.

[0057] The main control module is used to receive the degree information and image information collected by the image acquisition module and the detection information of the working area by the laser radar module, and process it, so as to control the side slope weeding device, the flat ground weeding device 6, and the obstacle avoidance weeding device 7. In this embodiment, the main control module includes an STM32 development board, a relay and a motor control board group, etc. The mobile chassis 2 is powered by the engine, and the STM32 development board realizes intelligent control of the depth camera, posture sensor and laser radar module through circuit control; the motor control board is used to intelligently control the opening, closing and speed of each motor;

[0058] In addition, the core processing unit STM32F407 of the STM32 development board has a high operating frequency and strong processing capability, the crystal oscillator or clock source has good stability, and the DC power supply module has overvoltage, overcurrent and short circuit protection functions. The development interface is rich, which is convenient for subsequent function expansion and debugging. The I / O interface and communication interface adopt high-speed and anti-interference design to ensure the timeliness and accuracy of data transmission. The LED indicator, key switch, power jack and reset button are reasonably laid out, which is convenient for operators to monitor the status of the equipment and perform simple operations.

[0059] In this embodiment, sensor networking is performed through multi-sensor fusion, and the specific parameters are as follows:

[0060] Sensor Type model Interface Protocol Deployment location Sampling frequency Binocular Vision Module OAK-D-Lite USB3.0 Top of the fuselage 30fps Solid-state LiDAR LivoxMid-40 Ethernet Rotating pan / tilt 100kHz Millimeter wave radar TIAWR1843BOOST SPI Front / rear guardrail 20Hz Distributed Fiber Optic Haptics FBG-SC-01A CAN Robotic arm 4 joints 2kHz 9-axis IMU BOSCH-BMI088 I2C Center of gravity 1kHz

[0061] The relay is a high-sensitivity, low-power relay, and its contacts are made of special metal materials that are wear-resistant and anti-oxidation, which can withstand large current shocks. It is connected to the STM32 development board through an optimized DuPont line connection method. The signal transmission is stable and reliable, and the start and stop of high-power equipment such as the lawn mower motor 704 can be accurately controlled.

[0062] The electromagnetic switch of the motor control board adopts an intelligent control chip, which can automatically adjust the switching frequency and current according to the motor load and working status. The circuit board adopts a multi-layer wiring process to reduce electromagnetic interference. The drive control board adopts advanced PWM modulation technology, which can accurately control the input voltage and current of the motor, realize stepless adjustment of the motor speed, and has over-temperature, over-current, and overload protection functions to ensure safe and stable operation of the motor.

[0063] See also Figure 1-Figure 10 The control method for a flat side slope profiling mower of the present invention comprises the following steps:

[0064] Step 1: Use the depth camera to accurately capture the depth information and clear RGB image information of the working area, and transmit the collected depth information and clear RGB image information to the STM32 development board through the Bluetooth module;

[0065] Step 2: The STM32 development board analyzes the collected depth information and image information of the working area, obtains the slope inclination information, and generates height and angle adjustment data. The height and angle adjustment data are transmitted to the side slope mowing device through the Bluetooth module to adjust the height and angle of the side slope mowing component; then, the posture sensor will collect the adjusted posture information and feed it back to the STM32 development board;

[0066] Step 3: After the posture of the side slope weeding device is adjusted, the main control module controls the side slope weeding device, the flat ground weeding device 6, and the obstacle avoidance weeding device 7 to work and perform weeding operations.

[0067] In this embodiment, the control system 3 further includes a multi-sensor fusion control module, which includes a data layer, a feature layer and a decision layer, wherein:

[0068] The data layer uses the Kalman filter algorithm to perform deep learning on the image information collected by the image acquisition module and fuse the posture information detected by the posture detection module, so that the positioning accuracy can be improved to ±2mm. Specifically, the data layer is responsible for time synchronization, coordinate system alignment, noise filtering and preliminary fusion of the original sensor data; the sensor types include binocular vision module (OAK-D-Lite), solid-state laser radar (L i voxM i d-40), millimeter wave radar (TIAWR1843BOOST), distributed fiber optic tactile (FBG-SC-01A) and 9-axis I MU (BOSCH-BM I088), each sensor outputs different data, such as binocular vision module outputs RGB image and depth point cloud; solid-state laser radar generates 3D point cloud; millimeter wave radar provides obstacle distance, speed and azimuth data; distributed fiber optic tactile collects strain data of robot arm joints; 9-axis I MU outputs attitude angle, acceleration and angular velocity. The clock reference is unified through hardware clock synchronization (PTP), with an error of <1ms, and a global coordinate system is established (based on the laser radar), and the external parameter matrix is ​​used to convert the data of each sensor to the unified coordinate system. The acceleration and angular velocity output by the IMU are used as input to predict the posture state, and the feature point matching results of the visual SLAM are used as observation values ​​to update the state estimation. The IMU noise covariance matrix Q is set to a diagonal matrix, and the visual observation noise R is set to 0.005m 2 , the final fused pose accuracy is ±2mm, and the frequency is 100Hz;

[0069] Feature layer: Integrate the obstacle features of lidar / ultrasonic through DS evidence theory; specifically: assign the obstacle existence confidence level Bel_lidar=0.8 based on the point cloud density and shape features of lidar, Bel_radar=0.7 based on the Doppler effect and reflection intensity of millimeter wave radar, and Bel_vision=0.6 based on the visual YOLOv5 target detection results (reduced to 0.4 in low light scenes). Dempster combination formula is used to calculate the joint confidence level The conflict factor K is normalized and the obstacle confidence map (resolution 10 cm × 10 cm) is output. The dynamic update frequency is 20 Hz. If K>0.5, the redundant sensor secondary verification is triggered and the weight is adjusted using the Bayesian network.

[0070] Decision layer: A dynamic decision model based on Bayesian network is established, integrating multiple parameters such as terrain slope, obstacle distribution, and robot arm 4 postures. The network structure includes input layer (slope θ, obstacle density D, robot arm posture (x, y, z, α)), hidden layer (terrain complexity C, operation risk level R) and output layer (mowing path P, robot arm motion parameters (v, ω)). The conditional probability expression is as follows: if θ>30° and D>0.5, then R=H i gh triggers obstacle avoidance mode (with a probability of 0.9), and if C=Low and R=Low, an efficient straight line path is selected (with a probability of 0.85). The network parameters are updated every 200ms, and the Markov Chain Monte Carlo (MCMC) method is used to learn environmental changes online.

[0071] In this embodiment, a multi-source information verification mechanism is added in step 2: by cross-validating the slope data of the depth vision with the IMU inclination data, comparing the visual SLAM pose p_vis i on with the IMU integral pose p_IMU, if ‖p_vis i on-p_IMU‖>5cm, reinitialization is triggered, and the weight of the abnormal sensor is reduced according to the size of the residual; at the same time, the displacement feedback of the first electric push rod 510 and the second electric push rod 512 are compared with the terrain scanning data of the laser radar, if |Δs-Δh|>2cm (Δs represents the displacement feedback value of the first electric push rod 510 and the second electric push rod 512. During the operation of the lawn mower, the electric push rod will be telescopically adjusted according to the terrain and operation requirements, and its displacement feedback value reflects the actual distance moved by the push rod; Δh represents the corresponding terrain change in the terrain scanning data of the laser radar. The laser radar is operated by The system scans the environment and obtains three-dimensional information of the terrain, that is, Δh reflects the degree of undulation of the terrain in a specific area or time period), then suspends the operation and calibrates to ensure data reliability, improve the system's environmental perception and autonomous decision-making capabilities in complex terrain, achieve the core goal of "contour mowing", and provide a reusable technical framework for automated mowing equipment. Experimental verification shows that after multi-sensor fusion, the positioning error is reduced from ±5cm of monocular vision to ±2cm, and the obstacle avoidance success rate in complex scenes is increased from 70% to 95%. The algorithm time is reduced from 15ms to 3ms through FPGA acceleration of Kalman filtering to meet real-time requirements.

[0072] The above is a preferred embodiment of the present invention, but the embodiment of the present invention is not limited to the above content. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be equivalent replacement methods and are included in the protection scope of the present invention.

Claims

1. A flat side slope profiling mower, characterized in that: The utility model comprises a mobile chassis and a side slope weeding device, a flat ground weeding device, an obstacle avoidance weeding device and a control system arranged on the mobile chassis, wherein the side slope weeding device is arranged on the top of the mobile chassis, and comprises a mechanical arm arranged on the mobile chassis and a side slope weeding mechanism arranged at the end of the mechanical arm; the flat ground weeding device is arranged on the front of the mobile chassis, and comprises a flat ground mowing box arranged on the mobile chassis and a flat ground mowing mechanism arranged in the flat ground mowing box; the obstacle avoidance weeding device comprises two groups, and the two groups of obstacle avoidance weeding devices are arranged on both sides of the flat ground mowing box, and comprise a first wheel seat arranged on the flat ground mowing box, a second wheel seat arranged on the first wheel seat and an obstacle avoidance weeding mechanism arranged in the second wheel seat; wherein the first wheel seat is hinged in the flat ground mowing box.

2. The flat ground side slope profiling mower according to claim 1, characterized in that: The mobile chassis includes a chassis and a crawler walking mechanism arranged on both sides of the chassis, wherein the crawler walking mechanism includes a crawler mounting frame arranged on the chassis, a transmission crawler arranged on the crawler mounting frame and a walking drive mechanism for driving the transmission crawler to move, wherein the walking drive mechanism includes a buffer seat installed on the crawler mounting frame, a crawler driving wheel and a walking power mechanism for driving the crawler driving wheel to rotate; wherein the middle part of the buffer seat is hinged on the crawler mounting frame; the crawler driving wheel is installed at the bottom of the buffer seat, and the top of the buffer seat is connected to the crawler mounting frame through a buffer spring, and the elastic force of the buffer spring prompts the buffer seat to swing downward to prompt the crawler driving wheel to press the transmission crawler.

3. The flat ground side slope profiling mower according to claim 1, characterized in that: The side slope weeding mechanism comprises a driving cylinder and multiple groups of side slope weeding components arranged at the end of the mechanical arm, wherein a driving device for driving each group of side slope weeding components to rotate and lift is arranged in the driving cylinder, and the driving devices are multiple groups, and the multiple groups of driving devices correspond to the multiple groups of side slope weeding components one by one; the multiple groups of side slope weeding components are arranged in a circle; each group of side slope weeding components is connected to the control shaft in each group of driving devices in the driving cylinder through a connecting plate; the side slope weeding components comprise a mowing disc arranged on the connecting plate, a mowing wheel arranged in the mowing disc, and a control shaft for driving the mowing disc. The mowing wheel rotates the mowing drive mechanism; wherein, two groups of croppers are arranged at the bottom of the mowing disc, and a control mechanism for controlling the opening angle of the two groups of croppers is fixedly installed inside the mowing disc, wherein the control mechanism includes a control box and a first electric push rod arranged in the control box; the two groups of croppers are rotatably connected in the control box through a rotating shaft; the telescopic rod of the first electric push rod is respectively connected to the two groups of croppers through two groups of pull rods; one end of the pull rod is installed on the telescopic rod of the first electric push rod, and the other end is connected to the crop divider.

4. The flat ground side slope profiling mower according to claim 1, characterized in that: Each set of driving devices includes a second electric push rod installed in the driving cylinder, and a fixed block is fixedly installed at the output end of the second electric push rod; a driving rod is installed at the bottom end of the fixed block, and an external thread structure is provided on the outer side of the driving rod, and a spiral groove is provided on the upper end of the control shaft; an internal thread structure that cooperates with the external thread structure of the driving rod is provided in the spiral groove; an avoidance groove for avoiding the control shaft is provided at the bottom of the driving cylinder; a limiting mechanism for limiting the lifting stroke of the control shaft is provided in the avoidance groove, and the limiting mechanism includes a third electric push rod arranged in the limiting groove, and the setting direction of the third electric push rod is perpendicular to the setting direction of the second electric push rod; The outer side surface of the control shaft is provided with an annular limit groove, and the annular limit groove is divided into multiple groups, and the multiple groups of annular limit grooves are equidistantly arranged along the axial direction of the control shaft; when the output end of the third electric push rod enters the annular limit groove on the control shaft, the second electric push rod drives the driving rod to enter the spiral groove of the control shaft to drive the control shaft to rotate; or, when the output end of the third electric push rod enters the annular limit groove on the control shaft, the second electric push rod drives the driving rod to enter the spiral groove of the control shaft, the output end of the third electric push rod exits the annular limit groove on the control shaft, and the second electric push rod drives the driving rod to move to drive the control shaft to rise and fall.

5. The flat ground side slope profiling mower according to claim 1, characterized in that: The flat ground mowing mechanism includes a driving shaft arranged in the flat ground mowing box, an arc-shaped mowing blade arranged on the driving shaft, and a servo motor for driving the driving shaft to rotate, wherein the servo motor is installed on the left side wall of the flat ground mowing box, and the main shaft of the servo motor is connected to one end of the driving shaft; the other end of the driving shaft is rotatably connected to the right side wall of the flat ground mowing box; the arc-shaped mowing blades are divided into multiple groups, and the multiple groups of arc-shaped mowing blades are equidistantly arranged along the axial direction of the driving shaft, and each group of arc-shaped mowing blades is installed on the driving shaft through a mounting seat.

6. The flat ground side slope profiling mower according to claim 1, characterized in that: The obstacle avoidance and weeding mechanism comprises a mowing blade and a mowing motor for driving the mowing blade to rotate, wherein the mowing motor is mounted on the second wheel seat, and the main shaft of the mowing motor is connected to the mowing blade.

7. The flat ground side slope profiling mower according to claim 1, characterized in that: A buffer mechanism is arranged between the first wheel seat and the second wheel seat, and the buffer mechanism includes a telescopic cylinder arranged between the first wheel seat and the second wheel seat, wherein the telescopic cylinder is in multiple groups and the multiple groups of telescopic cylinders are arranged equidistantly along the circumferential direction of the first wheel seat or the second wheel seat; a mounting groove is arranged on the second wheel seat at a position corresponding to the telescopic cylinder; the telescopic cylinder includes an inner cylinder and an outer cylinder that can slide relative to each other and limit their positions, wherein the outer cylinder is installed in the mounting groove through a clamping block; and the inner cylinder is installed on the first wheel seat; a compression spring is arranged in the telescopic cylinder, and the upper end of the compression spring acts on the second wheel seat, and the lower end acts on the first wheel seat.

8. The flat ground side slope profiling mower according to claim 4, characterized in that: The side slope weeding components are in three groups, and the three groups of side slope weeding components are arranged in a circle; correspondingly, the driving devices are also in three groups, and the three groups of driving devices are centrally installed in the driving cylinder.

9. The flat ground side slope profiling mower according to claim 1, characterized in that: The control system includes an image acquisition system module, a posture detection module, a laser radar module and a main control module, wherein the image acquisition module is used to acquire depth information and image information of the working area; the posture detection module is used to detect the posture of the side slope weeding device; the laser radar module is used to detect the working area; the main control module is used to receive the depth information and image information acquired by the image acquisition module and the detection information of the working area by the laser radar module, and process them, so as to realize the control of the side slope weeding device, the flat ground weeding device, and the obstacle avoidance weeding device.

10. A control method for the flat side slope profiling mower according to claim 9, characterized in that: The following steps are involved: Step S1: collecting image information and depth information of the working area through an image acquisition device, and transmitting the collected image information and depth information to a main control module; Step S2: After receiving the image information and depth information of the working area, the main control module processes the information to obtain the slope information of the working area, thereby generating height and angle adjustment data, and transmitting the data to the side slope weeding device, thereby adjusting the posture of the side slope weeding device; Step S3: After the posture of the side slope weeding device is adjusted, the main control module controls the side slope weeding device, the flat ground weeding device, and the obstacle avoidance weeding device to perform weeding operations.

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