Wheel-foot combined type all-terrain mower and active obstacle crossing control method thereof

Abstract

The invention belongs to the technical field of mowing machines, and particularly discloses a wheel-foot combined type all-terrain mowing machine and an active obstacle crossing control method thereof.The mowing machine comprises a rack, a mowing device is installed on the rack, four bionic feet are installed on the rack, each bionic foot comprises a thigh part, the first end of each thigh part is hinged to the rack, and the second end of each thigh part is hinged to the rack; the second ends of the thighs are hinged to the shank parts, walking wheels are rotationally installed at the ends, away from the thighs, of the shank parts, thigh part driving devices are arranged between the rack and the thighs, shank part driving devices are arranged between the thighs and the shank parts, and walking wheel driving devices are installed on the shank parts. Through cooperative work of the bionic feet and the walking wheels, high-speed movement and complex terrain adaptability are both considered; dynamic adjustment of the mowing height can be achieved, the operation scene is expanded, and the mowing knife is protected against collision; according to the improved mower, manual intervention can be reduced, and the risk of equipment damage caused by complex terrain is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of lawn mowers, and in particular to a wheel-foot composite all-terrain lawn mower and an active obstacle crossing control method thereof. Background Art

[0002] Lawn mowers are mechanical equipment often used in home lawn maintenance, golf course maintenance, mountain farm operations, etc.

[0003] Common lawn mowers currently include wheeled and crawler types. Wheeled lawn mowers have the advantages of strong straight-line driving stability and low manufacturing cost, but this type of lawn mower is mainly suitable for flat terrain. If it encounters stones, gullies, steep slopes, etc. during mowing, it is easy to get stuck. In addition, its chassis height is difficult to adjust and cannot adapt to the diverse requirements of different vegetation for operating height. Crawler lawn mowers have improved passability compared to wheeled lawn mowers, but there are problems such as reduced maneuverability and excessive power loss.

[0004] Although there is an improved solution of using adjustable cutter height in the prior art, the adjustment of the cutter is limited by the structure of the actuator, and the problem of the entire machine overcoming obstacles when the lawn mower operates in different terrains cannot be solved. Summary of the invention

[0005] The object of the present invention is to provide a wheel-foot compound all-terrain lawn mower and an active obstacle-crossing control method thereof, so as to solve the problem of the entire lawn mower overcoming obstacles when operating in different terrains.

[0006] To achieve the above-mentioned purpose, the present invention discloses a wheel-foot compound all-terrain lawn mower, comprising a frame, a lawn mower device mounted on the frame, four bionic feet mounted on the frame, the bionic foot comprising a thigh, a first end of the thigh being hinged on the frame, a calf being hinged on the second end of the thigh, a walking wheel being rotatably mounted on the end of the calf away from the thigh, a thigh driving device for driving the thigh to swing is provided between the frame and the thigh, a calf driving device for driving the calf to swing is provided between the thigh and the calf, and a walking wheel driving device for driving the walking wheel to rotate is installed on the calf. After adopting the above-mentioned structure, the four walking wheels and the walking wheel driving device constitute a wheeled mobile module, so that the wheel-foot compound all-terrain lawn mower has a four-wheel walking mode, and the high-speed walking of the lawn mower is achieved by controlling the rotation of the walking wheels, and the lawn mower is four-wheel driven, the torque of each walking wheel is adjustable, and the steering of the lawn mower is achieved by controlling the differential rotation of the four walking wheels. Four bionic feet form a quadruped auxiliary module, which enables the lawn mower to have a quadruped walking mode. The four bionic feet can be folded and stowed to achieve obstacle-crossing walking of the lawn mower. The combination of the wheeled mobile module and the quadruped auxiliary module enables the wheel-foot composite all-terrain lawn mower to change its working state according to different road conditions. When the road surface is flat, it walks with four walking wheels to reduce energy consumption; when there are obstacles on the road surface, it walks with four bionic feet to improve passability, solving the problem of the whole machine overcoming obstacles when the lawn mower is operating in different terrains, while taking into account the high-speed movement of the lawn mower.

[0007] Furthermore, the thigh driving device includes a motor disposed between the frame and the thigh, and the walking wheel driving device includes a motor disposed between the calf and the walking wheel. The calf driving device includes a motor disposed between the thigh and the calf; or the calf driving device includes a hydraulic cylinder disposed between the thigh and the calf, one of the cylinder barrel and the piston rod of the hydraulic cylinder being hinged to the thigh, and the other being hinged to a portion of the calf deviating from the hinge point, and the thigh driving device also includes a hydraulic system disposed on the frame, and the hydraulic system is connected to the oil port of the hydraulic cylinder through a pipeline. By arranging a hydraulic cylinder between the thigh and the calf, the calf is driven by the hydraulic cylinder to move, and the force is large and impact-resistant.

[0008] Furthermore, the lower leg is provided with a brake device for braking the running wheels. The brake device can brake the running wheels and prevent slipping in the quadruped walking mode.

[0009] Furthermore, a road condition information collection device is provided on the frame. The road condition information collection device is used to collect road condition information and provide data support for the control strategy of the wheel-foot compound all-terrain mower.

[0010] Furthermore, the road condition information collection device includes at least one of an image collection device, a laser radar, a gyroscope, an infrared sensor, and an ultrasonic detector. The image collection device, the laser radar, the gyroscope, the infrared sensor, and the ultrasonic detector can provide environmental information from different dimensions such as vision, distance, posture, thermal sensing, and close-range detection. If multiple road condition information collection devices are used, they can also be used in coordination to achieve more comprehensive and accurate recognition of the road condition environment.

[0011] Furthermore, the mowing device is vertically slidably mounted on the frame, and a lifting drive device for driving the mowing device to move vertically is provided between the frame and the mowing device. By controlling the lifting of the mowing device, the distance between the mowing device and the ground can be changed, thereby controlling the mowing height; in addition, during the obstacle crossing process of the wheel-foot compound all-terrain mower, the obstacle crossing capability can be further improved by adjusting the height of the mowing device to stabilize the center of gravity or by raising the height of the mowing device from the ground.

[0012] Furthermore, the mowing device comprises a chassis, a mowing blade is rotatably mounted on the chassis, and a mowing blade driving device for driving the mowing blade to rotate is mounted on the chassis. The rotation of the mowing blade can realize the mowing function, and the chassis is used to be connected to the frame.

[0013] Furthermore, the wheel-foot compound all-terrain lawn mower also includes a control system, which includes a controller, which is electrically connected to the thigh drive device, the calf drive device, the walking wheel drive device, and the road condition information collection device. The control system can collect road condition information and adjust the working state of the bionic foot and the walking wheel according to the road condition information.

[0014] Furthermore, the controller includes a path planning module, a road condition judgment module, and a multi-modal motion control module. The path planning module is configured to plan the walking path of the wheel-foot compound all-terrain mower according to the input information; the road condition judgment module is configured to receive the data collected by the road condition information collection device for analysis, and judge whether the road condition ahead is a flat road condition, an obstacle road condition, or a slope road condition; the multi-modal motion control module is configured to control the thigh drive device, the calf drive device, and the walking wheel drive device according to the road condition, so that the wheel-foot compound all-terrain mower enters the normal mode, the obstacle mode, or the climbing mode. When the road condition ahead is flat, the normal mode is entered: the four bionic feet are retracted, and the four walking wheels touch the ground for driving. When the road condition ahead is an obstacle, the obstacle mode is entered: the four bionic feet are extended, the walking wheels stop rotating, and the four bionic feet walk mode is entered. When the road condition ahead is a slope, the climbing mode is entered: the bionic feet and the walking wheels adopt an alternating gait, and the stride is dynamically adjusted according to the slope. The center of gravity is adjusted by adjusting the bionic gait to prevent rollover, and the torque of the four walking wheels is adjusted to prevent slipping. The control system can detect road condition information in real time, judge the road condition ahead, and adjust the walking strategy, so that the wheel-foot compound all-terrain lawn mower can not only achieve high-speed movement, but also actively overcome obstacles in complex terrain, greatly improving the operating efficiency and application scope of the wheel-foot compound all-terrain lawn mower.

[0015] The present invention also discloses an active obstacle crossing control method for a wheel-foot compound all-terrain mower, which is applied to the wheel-foot compound all-terrain mower described above. The control method comprises the following steps: step S100, planning a walking path of the wheel-foot compound all-terrain mower according to input information; step S200, collecting and analyzing road condition data to determine whether the road condition ahead is a flat road condition, an obstacle road condition or a slope road condition; step S300, controlling a thigh driving device, a calf driving device and a walking wheel driving device according to the road condition to make the wheel-foot compound all-terrain mower move upward and downward. The all-terrain mower enters the normal mode, obstacle crossing mode or climbing mode; when the road ahead is flat, it enters the normal mode: the four bionic feet are retracted, and the four walking wheels touch the ground for driving; when the road ahead is an obstacle, it enters the obstacle crossing mode: the four bionic feet are extended, the walking wheels stop rotating, and the four bionic feet walk in a mode; when the road ahead is a slope, it enters the climbing mode: the bionic feet and the walking wheels adopt an alternating gait, the stride is dynamically adjusted according to the slope, the center of gravity is adjusted by adjusting the bionic gait to prevent rollover, and the torque of the four walking wheels is adjusted to prevent slipping. The control method is used to realize the automatic control of the wheel-foot compound all-terrain mower, according to the real-time detected road condition information, the road condition ahead is judged in time, and the walking strategy is adjusted, so that the wheel-foot compound all-terrain mower can not only achieve high-speed movement, but also can realize active obstacle crossing in complex terrain, thereby improving the operation efficiency and application scope of the wheel-foot compound all-terrain mower.

[0016] In summary, the beneficial effects of the present invention are: 1. Through the coordinated work of the bionic foot and the walking wheel, high-speed movement and adaptability to complex terrain are taken into account; 2. Dynamic adjustment of the mowing height can be achieved, the working scene can be expanded and the mowing blade can be protected from impact; 3. Manual intervention can be reduced and the risk of equipment damage caused by complex terrain can be reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of an embodiment of the wheel-foot compound all-terrain lawn mower of the present invention; Figure 2 yes Figure 1 A schematic diagram of another working state of the wheel-foot compound all-terrain lawn mower shown; Figure 3 It is a structural schematic diagram of an embodiment of a control system of a wheel-foot compound all-terrain lawn mower of the present invention; Figure 4 It is a flow chart of an embodiment of the active obstacle overcoming control method of the wheel-foot compound all-terrain lawn mower in the present invention.

[0018] In the figure: 1. frame, 2. mowing device, 3. bionic foot, 301. thigh, 302. calf, 4. walking wheel, 5. hydraulic cylinder, 6. image acquisition device, 7. laser radar, 8. controller, 9. thigh drive device, 10. calf drive device, 11. walking wheel drive device, 12. road condition information acquisition device, 13. path planning module, 14. road condition judgment module, 15. multimodal motion control module. DETAILED DESCRIPTION

[0019] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0020] In the description of the present application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present application.

[0021] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise specified, "plurality" means two or more.

[0022] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0023] Reference Figure 1 , Figure 2 In some embodiments of the present invention, a wheel-foot compound all-terrain lawn mower comprises a frame 1, a lawn mowing device 2 is mounted on the frame 1, four bionic feet 3 are mounted on the frame 1, and the four bionic feet 3 are respectively located in the left front, right front, left rear, and right rear directions. The bionic foot 3 comprises a thigh 301, a first end of the thigh 301 is hinged on the frame 1, a calf 302 is hinged on the second end of the thigh 301, and a running wheel 4 is rotatably mounted on the end of the calf 302 away from the thigh 301, a thigh driving device 9 for driving the thigh 301 to swing is provided between the frame 1 and the thigh 301, a calf driving device 10 for driving the calf 302 to swing is provided between the thigh 301 and the calf 302, and a running wheel driving device 11 for driving the running wheel 4 to rotate is installed on the calf 302. In some embodiments of the present invention, in order to achieve the braking of the running wheel 4, the calf 302 is provided with a braking device for braking the running wheel 4. In the illustrated embodiment, the thigh 301 and the calf 302 swing on a plane with the front-to-back direction as the X-axis and the vertical direction as the Y-axis. The posture of the bionic foot 3 can be changed by controlling the swing amplitude of the thigh 301 and the calf 302.

[0024] In some embodiments of the present invention, the thigh driving device 9 includes a motor disposed between the frame 1 and the thigh 301, one of the main body of the motor and the power output component is relatively fixed to the frame 1, and the other is relatively fixed to the thigh 301. The walking wheel driving device 11 includes a motor disposed between the calf 302 and the walking wheel 4, one of the main body of the motor and the power output component is relatively fixed to the calf 302, and the other is relatively fixed to the walking wheel 4. The calf driving device 10 includes a motor disposed between the thigh 301 and the calf 302, one of the main body of the motor and the power output component is relatively fixed to the thigh 301, and the other is relatively fixed to the calf 302.

[0025] In the illustrated embodiment, the calf driving device 10 includes a hydraulic cylinder 5 disposed between the thigh 301 and the calf 302, one of the cylinder barrel and the piston rod of the hydraulic cylinder 5 is hinged to the thigh 301, and the other is hinged to the part of the calf 302 that deviates from the hinge point, and the thigh driving device 9 also includes a hydraulic system disposed on the frame 1, and the hydraulic system is connected to the oil port of the hydraulic cylinder 5 through a pipeline. The hydraulic system includes an oil tank, an oil pump, an oil circuit, and a control valve, and the control valve can be an electrically controlled valve to facilitate automatic control.

[0026] In some embodiments of the present invention, in order to realize real-time monitoring of road conditions, a road condition information collection device 12 is provided on the frame 1. The road condition information collection device 12 includes one or more of an image collection device 6, a laser radar 7, a gyroscope, an infrared sensor, and an ultrasonic detector.

[0027] In some embodiments of the present invention, in order to adjust the height of the mowing device 2, the mowing device 2 is vertically slidably mounted on the frame 1, and a lifting drive device for driving the mowing device 2 to move vertically is provided between the frame 1 and the mowing device 2. The lifting drive device can be an electric lifting column or a hydraulic cylinder.

[0028] In the present invention, the mowing device 2 is a functional module for mowing operations, and can adopt relevant structures on existing mowers, mainly including: a chassis, a mowing blade rotatably mounted on the chassis, and a mowing blade driving device for driving the mowing blade to rotate.

[0029] Reference Figure 3 In order to realize automatic control of the wheel-foot compound all-terrain lawn mower, the wheel-foot compound all-terrain lawn mower also includes a control system, which includes a controller 8, and the controller 8 is electrically connected to a thigh drive device 9, a calf drive device 10, a walking wheel drive device 11, and a road condition information collection device 12.

[0030] The controller 8 includes a path planning module 13, a road condition judgment module 14, and a multi-modal motion control module 15. Each module communicates with the road condition information collection device 12, the thigh driving device 9, the calf driving device 10, and the walking wheel driving device 11 through the CAN bus.

[0031] The path planning module 13 is configured to plan the walking path of the wheel-foot compound all-terrain mower according to the input work plot boundary information. An information storage device or an information input device may be provided on the controller 8 to input the work plot boundary information in advance or currently. In some embodiments of the present invention, the implementation method of planning the walking path of the wheel-foot compound all-terrain mower may be: the path planning module 13 generates a grid path based on the boundary information of the work plot (obtained through GPS or visual SLAM), and uses the A-Star Algorithm (A-Star Algorithm) or the Genetic Algorithm (GA) algorithm to optimize the walking trajectory of the mower, and the controller 8 drives the four-wheel differential steering according to the path instruction to ensure that it moves along the planned path.

[0032] The road condition determination module 14 is configured to receive data collected by the road condition information collection device 12 for analysis, and determine whether the road condition ahead is a flat road condition, an obstacle road condition, or a slope road condition.

[0033] The multi-modal motion control module 15 is configured to control the thigh drive device 9, the calf drive device 10, and the walking wheel drive device 11 according to the road conditions, so that the wheel-foot compound all-terrain mower enters the normal mode, the obstacle mode or the climbing mode.

[0034] When the road ahead is flat, the vehicle enters the normal mode: the four bionic feet 3 are folded, and the four walking wheels 4 are in contact with the ground. In some embodiments of the present invention, the determination condition of the flat road condition can be set as follows: the laser radar detects that the height of the obstacle within the set distance ahead is less than the set value, and the gyroscope pitch angle is less than the set value.

[0035] When there is an obstacle ahead, the vehicle enters the obstacle crossing mode: the four bionic feet 3 extend, the walking wheels 4 stop rotating, and the vehicle enters the walking mode of the four bionic feet 3. In some embodiments of the present invention, the obstacle road condition determination condition can be set as follows: when the laser radar detects an obstacle greater than or equal to 100 mm or a stone greater than 20% of the tire height ahead (determined by point cloud cluster analysis), and at the same time, the ultrasonic echo intensity is greater than a set value.

[0036] When the road ahead is a slope, the climbing mode is entered: the bionic foot 3 and the running wheel 4 adopt an alternating gait, the right front foot and the left rear wheel are lifted when the left front foot and the right rear wheel are synchronously gripping the ground, and the left front foot and the right rear wheel are lifted when the right front foot and the left rear wheel are synchronously gripping the ground, the stride is dynamically adjusted according to the slope, the center of gravity is adjusted by adjusting the bionic gait to prevent rollover, and the torque of the four running wheels 4 is adjusted to prevent slipping. In some embodiments of the present invention, the judgment condition of the slope road condition can be set as follows: the gyroscope detects that the front and rear tilt angle of the fuselage is ≥15°, and the camera recognizes that the matching degree of the slope texture feature is greater than 90%. The control of stride, bionic gait and torque is as follows: when the slope angle α is in the range of 15°-30°, the stride L=100×(1+α / 30) mm; when α>30°, the stride L=130mm and the safety lock mode is activated. The center of gravity adjustment system includes a gyroscope array and a two-way hydraulic stabilizer. A center of gravity balance model is established in the controller: when the roll angle θ≥5°, ​​the corresponding bionic foot extension length Δl=K×tanθ is adjusted, where K is the proportional coefficient 0.8-1.2, so that the overall center of gravity projection is located inside the support polygon. The walking wheel torque control system performs closed-loop control through wheel speed sensor and motor current detection feedback, and applies differentiated torque to each wheel: the torque distribution coefficient of the ground contact wheel γ=μ / (μ_max), where μ is the current ground friction coefficient and μ_max is the preset maximum friction coefficient of 0.45.

[0037] It should be noted that the system provided in the above embodiment is only illustrated by the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the modules or steps in the embodiments of the present invention can be decomposed or combined. For example, the modules in the above embodiments can be combined into one module, or further divided into multiple sub-modules to complete all or part of the functions described above. The names of the modules and steps involved in the embodiments of the present invention are only for distinguishing the modules or steps, and are not regarded as improper limitations of the present invention.

[0038] Those skilled in the art should be able to appreciate that the modules and method steps of each example described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, computer software, or a combination of the two, and the programs corresponding to the software modules and method steps can be placed in random access memory (RAM), memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disks, removable disks, CD-ROMs, or any other form of storage medium known in the technical field. In order to clearly illustrate the interchangeability of electronic hardware and software, the composition and steps of each example have been generally described in the above description according to the function. Whether these functions are performed in electronic hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0039] The flowcharts or block diagrams in the accompanying drawings illustrate possible architectures, functions, and operations of devices, methods, and computer program products according to various embodiments of the present application. In this regard, each box in the flowchart or block diagram may represent a module, a program segment, or a portion of a code, which contains one or more executable instructions for implementing a specified logical function.

[0040] Reference Figure 4 The present invention also provides an active obstacle crossing control method for a wheel-foot compound all-terrain mower, which is applied to the above wheel-foot compound all-terrain mower. In some embodiments of the present invention, the control method comprises the following steps: Step S100, planning a walking path of the wheel-foot compound all-terrain lawn mower according to the boundary information of the working plot; Step S200, collecting and analyzing road condition data to determine whether the road condition ahead is a flat road condition, an obstacle road condition or a slope road condition; Step S300, controlling the thigh driving device 9, the calf driving device 10, and the walking wheel driving device 11 according to the road conditions, so that the wheel-foot compound all-terrain lawn mower enters the normal mode, the obstacle crossing mode, or the climbing mode; When the road ahead is flat, the vehicle enters the normal mode: the four bionic feet 3 are folded, and the four running wheels 4 touch the ground for driving; When there is an obstacle ahead, the obstacle crossing mode is entered: the four bionic feet 3 are extended, the walking wheels 4 stop rotating, and the four bionic feet 3 enter the walking mode; When the road ahead is a slope, the climbing mode is entered: the bionic foot 3 and the walking wheel 4 adopt an alternating gait, the right front foot and the left rear wheel are lifted when the left front foot and the right rear wheel grip the ground synchronously, and the left front foot and the right rear wheel are lifted when the right front foot and the left rear wheel grip the ground synchronously. The stride is dynamically adjusted according to the slope, the center of gravity is adjusted by adjusting the bionic gait to prevent rollover, and the torque of the four walking wheels 4 is adjusted to prevent slipping.

[0041] The above are only preferred embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and substitutions can be made without departing from the technical principles of the present invention. These improvements and substitutions should also be regarded as the scope of protection of the present invention.

Claims

1. A wheel-foot composite all-terrain lawn mower, comprising a frame (1), on which a mowing device (2) is mounted, characterized in that: Four bionic feet (3) are mounted on the frame (1). The bionic foot (3) comprises a thigh (301). A first end of the thigh (301) is hinged to the frame (1). A calf (302) is hinged to a second end of the thigh (301). A walking wheel (4) is rotatably mounted on one end of the calf (302) away from the thigh (301). A thigh driving device (9) for driving the thigh (301) to swing is provided between the frame (1) and the thigh (301). A calf driving device (10) for driving the calf (302) to swing is provided between the thigh (301) and the calf (302). A walking wheel driving device (11) for driving the walking wheel (4) to rotate is installed on the calf (302).

2. The wheel-foot compound all-terrain lawn mower according to claim 1, characterized in that: The thigh driving device (9) comprises a motor disposed between the frame (1) and the thigh (301), and the walking wheel driving device (11) comprises a motor disposed between the calf (302) and the walking wheel (4); The calf driving device (10) comprises a motor arranged between the thigh (301) and the calf (302); Alternatively, the calf driving device (10) comprises a hydraulic cylinder (5) disposed between the thigh (301) and the calf (302), one of the cylinder barrel and the piston rod of the hydraulic cylinder (5) being hinged to the thigh (301), and the other being hinged to a portion of the calf (302) that is offset from the hinge point, and the thigh driving device (9) further comprises a hydraulic system disposed on the frame (1), the hydraulic system being connected to the oil port of the hydraulic cylinder (5) via a pipeline.

3. The wheel-foot compound all-terrain lawn mower according to claim 1, characterized in that: The calf portion (302) is provided with a brake device for braking the walking wheel (4).

4. The wheel-foot compound all-terrain lawn mower according to claim 1, characterized in that: A road condition information collection device (12) is provided on the frame (1).

5. The wheel-foot compound all-terrain lawn mower according to claim 4, characterized in that: The road condition information acquisition device (12) comprises at least one of an image acquisition device (6), a laser radar (7), a gyroscope, an infrared sensor, and an ultrasonic detector.

6. The wheel-foot compound all-terrain lawn mower according to claim 1, characterized in that: The mowing device (2) is vertically slidably mounted on the frame (1), and a lifting drive device for driving the mowing device (2) to move vertically is provided between the frame (1) and the mowing device (2).

7. The wheel-foot compound all-terrain lawn mower according to claim 1, characterized in that: The mowing device (2) comprises a chassis, on which a mowing blade is rotatably mounted, and a mowing blade driving device for driving the mowing blade to rotate is mounted on the chassis.

8. The wheel-foot compound all-terrain lawn mower according to claim 1, characterized in that: The wheel-foot combined all-terrain lawn mower also includes a control system, which includes a controller (8), and the controller (8) is electrically connected to a thigh drive device (9), a calf drive device (10), a walking wheel drive device (11), and a road condition information collection device (12).

9. The wheel-foot compound all-terrain lawn mower according to claim 8, characterized in that: The controller (8) comprises a path planning module (13), a road condition determination module (14), and a multi-modal motion control module (15); The path planning module (13) is configured to plan a walking path of the wheel-foot compound all-terrain lawn mower according to input information; The road condition judgment module (14) is configured to receive data collected by the road condition information collection device (12) for analysis, and judge whether the road condition ahead is a flat road condition, an obstacle road condition or a slope road condition; The multi-modal motion control module (15) is configured to control the thigh drive device (9), the calf drive device (10), and the walking wheel drive device (11) according to the road conditions, so that the wheel-foot compound all-terrain mower enters a normal mode, an obstacle crossing mode, or a climbing mode; When the road ahead is flat, the vehicle enters the normal mode: the four bionic feet (3) are folded, and the four running wheels (4) touch the ground and travel; When there is an obstacle ahead, the vehicle enters an obstacle-crossing mode: the four bionic feet (3) are extended, the walking wheels (4) stop rotating, and the vehicle enters a walking mode with the four bionic feet (3); When the road ahead is a slope, the climbing mode is entered: the bionic foot (3) and the walking wheel (4) adopt an alternating gait, the stride length is dynamically adjusted according to the slope, the center of gravity is adjusted by adjusting the bionic gait to prevent rollover, and the torque of the four walking wheels (4) is adjusted to prevent slipping.

10. An active obstacle crossing control method for a wheel-foot compound all-terrain lawn mower, applied to the wheel-foot compound all-terrain lawn mower as claimed in any one of claims 1 to 9, the control method comprising the following steps: Step S100, planning a walking path of the wheel-foot compound all-terrain lawn mower according to the input information; Step S200, collecting road condition data for analysis, and determining whether the road condition ahead is a flat road condition, an obstacle road condition, or a slope road condition; Step S300, controlling the thigh driving device (9), the calf driving device (10), and the walking wheel driving device (11) according to the road conditions, so that the wheel-foot compound all-terrain lawn mower enters a normal mode, an obstacle crossing mode, or a climbing mode; When the road ahead is flat, the vehicle enters the normal mode: the four bionic feet (3) are folded, and the four running wheels (4) touch the ground and travel; When there is an obstacle ahead, the vehicle enters an obstacle-crossing mode: the four bionic feet (3) are extended, the walking wheels (4) stop rotating, and the vehicle enters a walking mode with the four bionic feet (3); When the road ahead is a slope, the climbing mode is entered: the bionic foot (3) and the walking wheel (4) adopt an alternating gait, the stride length is dynamically adjusted according to the slope, the center of gravity is adjusted by adjusting the bionic gait to prevent rollover, and the torque of the four walking wheels (4) is adjusted to prevent slipping.

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