Intelligent mowing device and mowing height control method thereof

Abstract

This application provides an intelligent lawn mowing device and its lawn mowing height control method, comprising: a first space within a housing, a frame inside which a lifting mechanism is mounted; the lifting mechanism includes a lifting drive assembly connected to its output end, the lifting drive assembly driving the lifting frame to move; several lifting triangular plates, the first end of which is rotatably connected to the lifting frame near the ground, the second end of which is rotatably connected to the frame, and the third end of which is hinged to a lifting connecting rod; the extension direction of the rotation axes of the first, second, and third ends is a second direction, which is perpendicular to the first direction; a fixed rod connected to the chassis near the lifting frame, the end of which is hinged to the end of the lifting connecting rod away from the third end; and at least one blade disc mechanism vertically mounted on the chassis for mowing. This solution achieves precise adjustment of the lawn mowing height to meet different lawn mowing process requirements and improves mowing quality.

Description

Technical Field

[0001] This application relates to the field of intelligent lawn mowing technology, specifically to an intelligent lawn mowing device and a method for controlling the mowing height thereon. Background Technology

[0002] With the continuous development of technology, people's requirements for lawn maintenance are also increasing. Traditional lawnmowers usually require manual operation, which is labor-intensive, inefficient, and makes it difficult to precisely control the mowing height. In addition, traditional lawnmowers have a relatively simple structure and single function, which cannot meet the diverse needs of modern lawn maintenance. Summary of the Invention

[0003] In view of the above-mentioned defects or deficiencies in the prior art, this application aims to provide an intelligent lawn mowing device and a method for controlling the mowing height thereon.

[0004] In a first aspect, this application proposes an intelligent lawn mowing device, comprising:

[0005] The enclosure has a first space, and a frame is provided in the first space. The frame is connected to the inner wall of the enclosure.

[0006] A lifting mechanism, mounted on the frame, comprising:

[0007] A lifting drive assembly, wherein the fixed end of the lifting drive assembly is mounted on the frame;

[0008] A lifting frame is connected to the output end of the lifting drive assembly, which is used to drive the lifting frame to move along a first direction.

[0009] Several lifting triangular plates, the first end of the lifting triangular plate is rotatably connected to the lifting frame near the ground, the second end is rotatably connected to the frame, and the third end is hinged to a lifting link. The extension direction of the rotation axis of the first end, the second end and the third end is the second direction, which is perpendicular to the first direction.

[0010] The chassis has a fixed rod connected to the side of the chassis near the lifting frame. The end of the fixed rod away from the chassis is hinged to the end of the lifting link away from the third end. At least one blade mechanism is vertically provided on the chassis, and the blade mechanism is used for cutting grass.

[0011] According to the technical solution provided in the embodiments of this application, the cutter head mechanism includes a drive assembly and a plurality of cutter head spline shafts arranged perpendicularly to the chassis. The drive assembly is used to drive the cutter head spline shafts to rotate. A cutter is provided at the end of the cutter head spline shaft away from the chassis. A bearing and a cutter head spline shaft sleeve are provided on the side of the chassis away from the lifting frame. The end of the cutter head spline shaft away from the cutter rotates in the bearing, and the cutter head spline shaft can move in the cutter head spline shaft sleeve.

[0012] According to the technical solution provided in the embodiments of this application, the driving component includes:

[0013] A power output element, which is fixedly mounted on the frame;

[0014] A torque clutch, wherein the inner side of the torque clutch is connected to the main shaft of the power output element, and the outer side is connected to a first drive wheel;

[0015] A plurality of first driven wheels, each first driven wheel being connected to the first driving wheel via a first transmission belt, and each first driven wheel being sleeved on the outside of the corresponding cutter head spline shaft.

[0016] According to the technical solution provided in the embodiments of this application, the intelligent lawn mowing device further includes a drive mechanism for driving the blade mechanism to mow the lawn. The drive mechanism includes a fuel tank for holding fuel and a battery for providing electrical power. The fuel tank and the battery are mounted on the frame.

[0017] According to the technical solution provided in the embodiments of this application, a second drive wheel is also connected to the power output element. The second drive wheel transmits the power output by the power output element to the generator through a second conveyor belt. The output end of the generator is connected in parallel with the battery.

[0018] According to the technical solution provided in the embodiments of this application, the frame is a rectangular frame structure, and servo motors and their reducers are respectively installed at the four ends of the rectangular frame structure. The output end of the reducer is equipped with a walking tire.

[0019] According to the technical solution provided in the embodiments of this application, a pull rope displacement sensor is also installed on the frame, and the pull rope of the pull rope displacement sensor is connected to the chassis.

[0020] Secondly, this application proposes a method for controlling the mowing height of an intelligent lawn mower, used to control the ground clearance of the blade mechanism of the intelligent lawn mower as described above, comprising the following steps:

[0021] Obtain the ground flatness of the area to be mowed and the mowing process requirements, which include at least weed removal and lawn trimming.

[0022] If the mowing process requires weed removal and the ground flatness is greater than or equal to a first preset threshold, then a safety height is set. The safety height is the minimum height of the cutter head mechanism from the ground to avoid the cutter head mechanism scraping against the ground.

[0023] Obtain the grass length within the area to be mowed, and determine the first target height based on the grass length and the safe height.

[0024] After adjusting the ground clearance of the blade mechanism to the highest adjustable value, the intelligent mowing device is driven into the area to be mowed.

[0025] After the intelligent mowing device enters the area to be mowed, the blade mechanism is controlled to enter the height-fixing mode and its height is adjusted to the first target height to cut the weeds in the area to be mowed.

[0026] According to the technical solution provided in the embodiments of this application, after obtaining the ground flatness of the area to be mowed and the mowing process requirements, the method further includes the following steps:

[0027] If the mowing process requires weed removal and the ground flatness is less than a first preset threshold, then an abnormal area is identified. The abnormal area is a grass-to-move area where the absolute value of the difference between the ground flatness and the ground flatness of the normal area is greater than or equal to a second preset threshold. The normal area is a grass-to-move area other than the abnormal area.

[0028] After the intelligent mowing device enters the regular area, the blade mechanism is controlled to enter the height-fixing mode and its height is adjusted to the first target height to cut the weeds in the regular area.

[0029] After the weeds in the normal area have been cut, the cutter head mechanism is controlled to enter the adaptive mode to cut the weeds in the abnormal area. In the adaptive mode, the height of the cutter head mechanism can be automatically adjusted to adapt to the distribution of grass height and ground undulation.

[0030] According to the technical solution provided in the embodiments of this application, the area to be mowed includes several sub-areas, and the grass height is the same at different locations within the same sub-area; after obtaining the ground flatness of the area to be mowed and the mowing process requirements, the following steps are also included:

[0031] If the lawn mowing process requires the modified lawn and the ground flatness is greater than or equal to a first preset threshold, the standard grass height of the area to be mowed and the grass length distribution of the area to be mowed are obtained; the grass length distribution is composed of the grass length height of all the sub-regions.

[0032] Based on the grass retention height standard and the grass length distribution, the second target height for each sub-region is obtained;

[0033] The intelligent lawn mowing device is controlled to enter each of the sub-areas sequentially, and within each sub-area, the blade mechanism is controlled to enter the fixed height mode and its height is adjusted to the corresponding second target height until the lawn in all the sub-areas is mowed.

[0034] Compared with the prior art, the beneficial effects of this application are as follows: This application can drive the lifting frame to move horizontally through the lifting drive component, thereby driving the lifting triangle plate to rotate, and then driving the chassis to move up and down through the lifting linkage. The blade mechanism on the chassis can realize the mowing function. The whole process does not require manual operation, realizes automated mowing, improves work efficiency, and reduces labor intensity. At the same time, through the precise control of the lifting drive component, the mowing height can be precisely adjusted, which can meet the maintenance needs of different lawns and improve the mowing quality. During the adjustment of the mowing height, the three ends of the lifting triangle plate are rotatably connected to the lifting frame, the frame and the lifting linkage, forming a stable triangular structure. This structure can ensure the stability of the chassis during the lifting process and improve the reliability of the mowing device. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of the structure of the intelligent lawn mowing device provided in the embodiments of this application;

[0036] Figure 2 A schematic diagram of the structure of the intelligent lawnmower device provided in this application embodiment, with the cover removed;

[0037] Figure 3 This is a schematic diagram of the frame structure of the intelligent lawnmower device provided in the embodiments of this application;

[0038] Figure 4 A schematic diagram of the lifting mechanism of the intelligent lawnmower device provided in this application embodiment;

[0039] Figure 5 A top view of the blade mechanism of the intelligent lawnmower device provided in this embodiment of the application;

[0040] Figure 6 A bottom view of the blade mechanism of the intelligent lawnmower device provided in this embodiment of the application;

[0041] Figure 7 A schematic diagram of the drive assembly of the intelligent lawnmower device provided in the embodiments of this application;

[0042] Figure 8A structural schematic diagram showing the installation position of the lifting mechanism of the intelligent lawnmower device provided in the embodiments of this application;

[0043] Figure 9 A partial cross-sectional schematic diagram of the lifting mechanism of the intelligent lawnmower device provided in the embodiments of this application;

[0044] Figure 10 A flowchart illustrating the steps of a method for controlling the mowing height of an intelligent lawn mowing device provided in this application embodiment.

[0045] The text labels in the image represent:

[0046] 1. Housing; 2. Frame structure; 21. Frame; 22. Servo motor; 23. Reducer; 24. Walking tire; 25. Cable displacement sensor; 26. Electrical component support frame; 3. Lifting mechanism; 31. Electric cylinder mounting block; 32. Lifting drive assembly; 33. Lifting frame; 34. Lifting triangle plate; 35. Lifting connecting rod; 36. Rotating shaft; 37. First pin; 38. Second pin; 4. Cutter head mechanism; 41. Cutter head spline shaft; 42. Locking nut; 43. Chassis clamping block; 44. Chassis; 45. 46. ​​Bearing; 57. Cutting blade; 68. Drive assembly; 79. Power output element; 80. Second drive wheel; 90. Torque clutch; 10. First drive wheel; 11. First transmission belt; 12. First driven wheel; 13. Engine mounting plate; 14. Bearing housing; 15. Driven wheel spacer; 16. Support frame; 17. Cutter head spline bushing; 18. Generator; 19. Fuel tank; 20. Battery; 21. Electrical components; 22. GNSS bridge terminal; 33. Radar; 44. Electrical compartment opening and closing door; 53. Audible and visual warning light. Detailed Implementation

[0047] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0048] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0049] Example 1

[0050] As mentioned in the background section, this application proposes an intelligent lawnmower device to address the problems in the prior art. Please refer to [link / reference]. Figures 1-3 As shown, it includes:

[0051] The cover 1 has a first space inside, and a frame 21 is provided in the first space. The frame 21 is connected to the inner wall of the cover 1. The frame 21 is part of the frame structure 2, and the frame structure 2 also includes a support frame 510.

[0052] Specifically, the cover 1 is equipped with peripherals such as radar 10 and GNSS 9 bridge terminal. The cover 1 can shield the internal components and electrical components 8 of the intelligent lawnmower. The cover 1 is provided with several strip-shaped heat dissipation holes.

[0053] Please refer to Figure 4 , Figure 7 As shown, the lifting mechanism 3 is mounted on the frame 21, and the lifting mechanism 3 includes:

[0054] The lifting drive assembly 32 is mounted on the frame 21 at its fixed end; specifically, the lifting drive assembly 32 is an electric cylinder.

[0055] A lifting frame 33 is connected to the output end of the lifting drive assembly 32, which is used to drive the lifting frame 33 to move along a first direction; the first direction is the left and right direction of the device during the movement.

[0056] Several lifting triangular plates 34 are provided. The first end of each lifting triangular plate 34 is rotatably connected to the lifting frame 33 near the ground, the second end is rotatably connected to the frame 21, and the third end is hinged to a lifting connecting rod 35. The extension direction of the rotation shaft 36 of the first, second, and third ends is a second direction, perpendicular to the first direction; the second direction is the forward and backward direction of the device during movement. The rotatably connected parts serve as the rotation shaft 36 via a first pin 37 and a second pin 38. Four lifting triangular plates 34 are provided, each with the same arrangement.

[0057] The chassis 44 has a fixed rod connected to the side of the chassis 44 near the lifting frame 33. The end of the fixed rod away from the chassis 44 is hinged to the end of the lifting link 35 away from the third end. At least one blade mechanism 4 is vertically provided on the chassis 44, and the blade mechanism 4 is used for cutting grass.

[0058] Specifically, the electric cylinder mounting block 31 and the rotating shaft are connected to the frame 21. The lifting linkage 35 is connected to the chassis 44. The lifting triangle 34 is connected to the lifting frame 33. When the electric cylinder extends or retracts, the lifting frame 33 drives the lifting triangle 34 to rotate around the rotating shaft, thereby causing the lifting triangle 34 to move the lifting linkage 35 and the chassis 44. Simultaneously, by controlling the stroke of the electric cylinder, any change in mowing height can be achieved within the range of 50mm-150mm.

[0059] Furthermore, this intelligent lawn mowing device also integrates an autonomous navigation system, uses a multi-sensor integrated machine intelligence platform as its core, and FPGA as its core control unit. It also highly integrates interfaces such as GNSS9 bridge terminal, LiDAR10 (supported by mainstream manufacturers), and gigabit network port.

[0060] Specifically, the intelligent lawn mowing device also includes a radar 10, an electrical compartment door 11, an audible and visual warning light 12, and electrical components 8. Among them, the network bridge terminal, radar 10, and electrical compartment door 11 are mounted on the cover 1; the fuel tank 6, battery 7, electrical components 8, and audible and visual warning light 12 are mounted on the frame 21.

[0061] In a preferred embodiment, please refer to Figure 8 As shown, the cutter head mechanism 4 includes a drive assembly 5 and a plurality of cutter head spline shafts 41 arranged perpendicularly to the chassis 44. The drive assembly 5 is used to drive the cutter head spline shafts 41 to rotate. The end of the cutter head spline shaft 41 away from the chassis 44 is provided with a cutting blade 46. The side of the chassis 44 away from the lifting frame 33 is provided with a bearing 45 and a cutter head spline shaft 41 sleeve. The end of the cutter head spline shaft 41 away from the cutting blade 46 rotates in the bearing 45, and the cutter head spline shaft 41 can move in the cutter head spline shaft 41 sleeve.

[0062] Alternatively, please refer to Figure 5 , Figure 6 As shown, it includes two cutter head spline shafts 41. The end of the cutter head spline shaft 41 away from the cutter 46 is located in the inner ring of the bearing 45. Correspondingly, it has two cutters 46 on the left and right. The rotation of the cutter head spline shaft 41 drives the cutter 46 to rotate at high speed to cut the grass on the ground.

[0063] Specifically, the chassis 44 is pressed and fixedly connected to the cutter head spline shaft 41 by the chassis clamping block 43 and the locking nut 42. The cutter head spline shaft 41 is connected to the cutting blade 46 and can rotate within the bearing 45 and can move vertically up and down within the sleeve of the cutter head spline shaft 41. Thus, the chassis 44, the cutter head spline shaft 41, and the cutting blade 46 are fixedly connected to form a whole. That is, the movement of the chassis 44 can connect the cutter head spline shaft 41 and the cutting blade 46 to move together. At the same time, the cutter head spline shaft 41 cooperates with the cutter head spline bushing 511 to guide the movement in the vertical direction. As can be seen from the above, the extension and retraction of the electric cylinder can drive the chassis 44 to move (that is, the chassis 44, the cutter head spline shaft 41, and the cutting blade 46 move together), which cooperates with the cutter head spline bushing 511 to guide the movement in the vertical direction, thereby realizing the vertical movement of the cutting blade 46.

[0064] In a preferred embodiment, please refer to Figure 6 As shown, the driving component 5 includes:

[0065] A power output element 51 is fixedly mounted on the frame 21;

[0066] Torque clutch 53, the inner side of which is connected to the main shaft of the power output element 51, and the outer side is connected to the first drive wheel 54;

[0067] A plurality of first driven wheels 56 are provided, each first driven wheel 56 being connected to the first driving wheel 54 via a first transmission belt 55, and each first driven wheel 56 being sleeved on the corresponding cutter head spline shaft 41.

[0068] Specifically, it has two first driven wheels 56, one on the left and one on the right, which are respectively connected to the first driving wheel 54. The power output element 51 is an engine, which provides a power source for the operation of components such as the cutter 46. The support frame 510 is used to support the drive assembly 5.

[0069] In a preferred embodiment, the intelligent lawn mowing device further includes a drive mechanism for driving the blade mechanism 4 to mow the lawn. The drive mechanism includes a fuel tank 6 for holding fuel and a battery 7 for providing electrical power. The fuel tank 6 and the battery 7 are mounted on the frame 21.

[0070] In a preferred embodiment, a second drive wheel 52 is also connected to the power output element 51. The second drive wheel 52 transmits the power output by the power output element 51 to the generator 512 through a second conveyor belt. The output end of the generator 512 is connected in parallel with the battery 7.

[0071] Specifically, the power output element 51 is connected and fixed to the frame 21 via the engine mounting plate 57. A first drive pulley 54 and a torque clutch 53 are mounted on the engine's main shaft. The first drive pulley 54 transmits power to the generator 512 via a first transmission belt 55. The generator 512 supplies power to the battery 7 and the electrical components 8 of the equipment, thereby increasing the working time of the intelligent lawnmower system. The torque clutch 53 is connected to the engine's main shaft on its inner side and to the first drive pulley 54 on its outer side. During normal operation, the torque clutch 53 transmits torque normally to the first drive pulley 54. In case of stalling or other issues, the torque clutch 53 stops transmitting torque, thus protecting the engine and increasing its lifespan. The first drive pulley 54 transmits torque to the first driven pulleys 56 on both sides via belt drive. The first driven wheel 56 has a spline sleeve inside that fits outside the cutter head spline shaft 41 sleeve to transmit torque. The cutter head spline shaft 41 sleeve transmits torque to the cutter head spline shaft 41 and the cutting blade 46 through its internal splines, thus completing the entire power transmission process from the engine torque to the cutting blade 46. The cutter head spline shaft 41 sleeve is installed in two bearing seats 58, and the driven wheel spacer 59 provides vertical positioning to prevent the driven wheel and the cutter head spline shaft 41 sleeve from moving together.

[0072] This intelligent lawnmower uses a hybrid electric drive system. The fuel tank 6 has a capacity of approximately 20L of fuel, with a fuel consumption of about 3L / h, allowing for continuous outdoor operation for at least 6 hours. When the engine is driving the mowing operation, it drives the generator 512 via belt drive. The generator 512 output is connected in parallel with the battery 7 (48V lithium battery 7) to power the intelligent lawnmower's electrical components (such as the servo motor 22 and electric cylinder). This ensures continuous power supply for the outdoor mobile device, effectively extending the outdoor mowing time of the intelligent lawnmower system.

[0073] In a preferred embodiment, the frame 21 is a rectangular frame structure, and servo motors 22 and their reducers 23 are respectively installed at the four ends of the rectangular frame structure. The output end of the reducer 23 is equipped with a walking tire 24.

[0074] Specifically, servo motors 22 and worm gear reducers are installed on the front, back, left, and right sides of the frame 21, and walking tires 24 are connected to the end of the worm gear reducers, thus forming the walking support system of the entire intelligent lawnmower system.

[0075] In a preferred embodiment, a pull rope displacement sensor 25 is also installed on the frame 21, and the pull rope of the pull rope displacement sensor 25 is connected to the chassis 44.

[0076] Specifically, the chassis 44 drives the pull rope through the lifting mechanism 3. The pull rope displacement sensor 25 can then determine the current mowing height.

[0077] Example 2

[0078] Based on Example 1, this example proposes a method for controlling the mowing height of an intelligent lawnmower. This control method is integrated into the intelligent lawnmower and executed by a control system. It is used to control the ground clearance of the blade mechanism of the intelligent lawnmower as described above. Please refer to [link / reference]. Figure 9 As shown, it includes the following steps:

[0079] S1. Obtain the ground flatness of the area to be mowed and the mowing process requirements, wherein the mowing process requirements include at least weed removal and lawn trimming.

[0080] Specifically, the lawn mowing process requirements are set manually, and the control system's large screen can select scenes, such as weed removal and lawn trimming. The control system also has preset control logic for executing a fixed-height mode and an adaptive mode for the blade mechanism 4. The bottom of the intelligent lawn mowing device is equipped with terrain sensors such as a lidar 10, ultrasonic sensors, or a stereo vision system. After the chassis 44 is raised to its highest position, the control device moves within the area to be mowed and traverses the entire area to obtain the flatness of the ground. The higher the flatness, the smoother the ground and the more consistent the soil height at each point.

[0081] Specifically, the intelligent lawn mowing device in Embodiment 1 can be used in both weed removal and lawn trimming scenarios. However, the required processes differ depending on the scenario. When weed removal is required, the weeds should be removed as cleanly as possible, meaning the height of the remaining grass should be as short as possible after mowing. When lawn trimming is required, the grass height should be kept as uniform as possible in different locations for aesthetic and uniform visual effects.

[0082] S2. If the mowing process requires weed removal and the ground flatness is greater than or equal to a first preset threshold, then a safety height is set and the safety height is used as the first target height; the safety height is the minimum height of the cutter head mechanism 4 from the ground to avoid the cutter head mechanism 4 scraping against the ground.

[0083] Specifically, the set safety height is generally determined based on the actual situation and experience, and can be set to 2-5cm.

[0084] Specifically, when cutting weeds, the height of the weeds left should be as short as possible. To protect the cutter head mechanism and prevent the cutter from being damaged by frequent scraping against the ground, a safe height can be set. This ensures that as many weeds as possible are removed and also effectively extends the service life of the cutter.

[0085] S4. After adjusting the ground clearance of the cutter head mechanism 4 to the highest adjustable value of the cutter head mechanism 4, drive the intelligent mowing device into the area to be mowed.

[0086] Specifically, during the process of driving towards the area to be mowed, the blade mechanism 4 is often raised to its highest position to prevent scratching obstacles.

[0087] S5. After the intelligent mowing device enters the area to be mowed, the blade mechanism 4 is controlled to enter the height-fixed mode and its height is adjusted to the first target height to cut the weeds in the area to be mowed.

[0088] Furthermore, after obtaining the ground flatness of the area to be mowed and the mowing process requirements, the following steps are also included:

[0089] If the mowing process requires weed removal and the ground flatness is less than a first preset threshold, then an abnormal area is identified. The abnormal area is a grass-to-move area where the absolute value of the difference between the ground flatness and the ground flatness of the normal area is greater than or equal to a second preset threshold. The normal area is a grass-to-move area other than the abnormal area.

[0090] After the intelligent mowing device enters the conventional area, the blade mechanism (4) is controlled to enter the fixed height mode and its height is adjusted to the first target height to cut the weeds in the conventional area;

[0091] After the weeds in the normal area are cut off, the cutter head mechanism (4) is controlled to enter the adaptive mode to cut off the weeds in the abnormal area. In the adaptive mode, the height of the cutter head mechanism (4) can be automatically adjusted to adapt to the distribution of grass height and ground undulation.

[0092] Specifically, when the ground surface of the area to be mowed is uneven, indicating that some areas are relatively flat, the fixed-height mode continues to be used for weed removal in relatively flat areas. However, in areas with relatively uneven ground, an adaptive mode is required. It should be noted that in the adaptive mode, the intelligent mowing device employs a multi-sensor fusion adaptive adjustment method. Specifically, a high-precision LiDAR is used to scan the contours of the weeds and the ground in real time after the mowing device enters an abnormal area. By analyzing the data fed back from the LiDAR, the height distribution of the weeds and the undulation of the ground can be accurately obtained. Based on this information, the height of the cutter head mechanism is dynamically adjusted to ensure that the cutter head is always positioned slightly above the highest point of the ground. This ensures that weeds are removed as thoroughly as possible even in uneven areas.

[0093] Furthermore, the area to be mowed includes several sub-regions, and the grass height is the same at different locations within the same sub-region; after obtaining the ground flatness of the area to be mowed and the mowing process requirements, the following steps are also included:

[0094] If the lawn mowing process requires the modified lawn and the ground flatness is greater than or equal to a first preset threshold, the standard grass height of the area to be mowed and the grass length distribution of the area to be mowed are obtained; the grass length distribution is composed of the grass length height of all the sub-regions.

[0095] Based on the grass retention height standard and the grass length distribution, the second target height for each sub-region is obtained;

[0096] The intelligent lawn mowing device is controlled to enter each of the sub-areas in sequence, and in each sub-area, the blade mechanism 4 is controlled to enter the fixed height mode and its height is adjusted to the corresponding second target height until the lawn in all the sub-areas is mowed.

[0097] Specifically, when the intelligent lawn mowing device is applied to lawn repair, the process standard is to ensure that the grass length is as consistent as possible. At this time, the corresponding second target height is calculated for each sub-area, and the cutter head mechanism 4 is made to mow the grass at the corresponding second target height in each sub-area. This ensures that after all sub-areas are mowed, the grass length is consistent throughout the entire area to be mowed.

[0098] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. The above descriptions are only preferred embodiments of this application. It should be noted that due to the limitations of written expression, while there are objectively infinite specific structures, those skilled in the art can make several improvements, modifications, or changes without departing from the principles of this invention, and can also combine the above technical features in an appropriate manner. These improvements, modifications, changes, or combinations, or the direct application of the inventive concept and technical solution to other situations without modification, should all be considered within the scope of protection of this application.

Claims

1. A method for controlling the mowing height of an intelligent lawnmower, characterized in that: Includes the following steps: Obtain the ground flatness of the area to be mowed and the mowing process requirements, which include at least weed removal and lawn trimming. If the mowing process requires weed removal and the ground flatness is greater than or equal to the first preset threshold, then a safety height is set and the safety height is used as the first target height; the safety height is the minimum height of the cutter head mechanism (4) from the ground to avoid the cutter head mechanism (4) scraping against the ground; After adjusting the ground clearance of the cutter head mechanism (4) to the highest adjustable value of the cutter head mechanism (4), drive the intelligent mowing device into the area to be mowed; After the intelligent mowing device enters the area to be mowed, the blade mechanism (4) is controlled to enter the height-fixed mode and its height is adjusted to the first target height to cut the weeds in the area to be mowed. After obtaining the ground flatness of the area to be mowed and the mowing process requirements, the following steps are also included: If the mowing process requires weed removal and the ground flatness is less than a first preset threshold, then an abnormal area is identified. The abnormal area is a grass-to-move area where the absolute value of the difference between the ground flatness and the ground flatness of the normal area is greater than or equal to a second preset threshold. The normal area is a grass-to-move area other than the abnormal area. After the intelligent mowing device enters the conventional area, the blade mechanism (4) is controlled to enter the fixed height mode and its height is adjusted to the first target height to cut the weeds in the conventional area; After the weeds in the normal area are cut off, the cutter head mechanism (4) is controlled to enter the adaptive mode to cut off the weeds in the abnormal area. In the adaptive mode, the height of the cutter head mechanism (4) can be automatically adjusted to adapt to the distribution of grass height and ground undulation.

2. The method for controlling the mowing height of the intelligent lawn mowing device according to claim 1, characterized in that: The area to be mowed includes several sub-regions, and the grass height is the same at different locations within the same sub-region; after obtaining the ground flatness and mowing process requirements of the area to be mowed, the following steps are also included: If the mowing process requires the modified lawn and the ground flatness is greater than or equal to a first preset threshold, the standard grass height of the area to be mowed and the grass length distribution of the area to be mowed are obtained; the grass length distribution is composed of the grass length height of all the sub-regions. Based on the grass retention height standard and the grass length distribution, the second target height for each sub-region is obtained; The intelligent lawn mowing device is controlled to enter each of the sub-areas in sequence, and in each sub-area, the blade mechanism (4) is controlled to enter the fixed height mode and its height is adjusted to the corresponding second target height until the lawn in all the sub-areas is repaired.

3. A smart lawnmower device for performing the method according to any one of claims 1 to 2, characterized in that, include: The cover (1) has a first space inside, and a frame (21) is provided in the first space. The frame (21) is connected to the inner wall of the cover (1). A lifting mechanism (3) is mounted on the frame (21), and the lifting mechanism (3) includes: A lifting drive assembly (32) is mounted on the frame (21) at its fixed end. A lifting frame (33) is connected to the output end of the lifting drive assembly (32), and the lifting drive assembly (32) is used to drive the lifting frame (33) to move along a first direction; Several lifting triangle plates (34) are provided. The first end of the lifting triangle plate (34) is rotatably connected to the lifting frame (33) near the ground. The second end is rotatably connected to the frame (21). The third end is hinged to a lifting link (35). The extension direction of the rotation axis (36) of the first end, the second end and the third end is the second direction, which is perpendicular to the first direction. The chassis (44) has a fixed rod connected to the side of the chassis (44) near the lifting frame (33). The end of the fixed rod away from the chassis (44) is hinged to the end of the lifting link (35) away from the third end. At least one blade mechanism (4) is vertically provided on the chassis (44), and the blade mechanism (4) is used for cutting grass.

4. The intelligent lawn mowing device according to claim 3, characterized in that: The cutter head mechanism (4) includes a drive assembly and a plurality of cutter head spline shafts (41) arranged perpendicularly to the chassis (44). The drive assembly is used to drive the cutter head spline shafts (41) to rotate. The end of the cutter head spline shaft (41) away from the chassis (44) is provided with a cutter (46). The side of the chassis (44) away from the lifting frame (33) is provided with a bearing (45) and a cutter head spline shaft (41) sleeve. The end of the cutter head spline shaft (41) away from the cutter (46) rotates in the bearing (45), and the cutter head spline shaft (41) can move in the cutter head spline shaft (41) sleeve.

5. The intelligent lawn mowing device according to claim 4, characterized in that: The driving component (5) includes: A power output element (51) is fixedly mounted on the frame (21); Torque clutch (53), the inner side of which is connected to the main shaft of the power output element (51), and the outer side is connected to the first drive wheel (54). A plurality of first driven wheels (56) are connected to the first driving wheel (54) via a first transmission belt (55), and each first driven wheel (56) is sleeved on the outside of the corresponding cutter head spline shaft (41).

6. The intelligent lawn mowing device according to claim 5, characterized in that: The intelligent lawn mowing device also includes a drive mechanism for driving the blade mechanism (4) to mow grass, the drive mechanism including a fuel tank (6) for holding fuel and a battery (7) for providing electrical power, the fuel tank (6) and the battery (7) being mounted on the frame (21).

7. The intelligent lawn mowing device according to claim 6, characterized in that: The power output element (51) is also connected to a second drive wheel (52). The second drive wheel (52) transmits the power output by the power output element (51) to the generator (512) through the second conveyor belt. The output end of the generator (512) is connected in parallel with the battery (7).

8. The intelligent lawn mowing device according to claim 3, characterized in that: The frame (21) is a rectangular frame structure. Servo motors (22) and their reducers (23) are installed at the four ends of the rectangular frame structure, and walking tires (24) are installed at the output end of the reducer (23).

9. The intelligent lawn mowing device according to claim 3, characterized in that: A pull rope displacement sensor (25) is also installed on the frame (21), and the pull rope of the pull rope displacement sensor (25) is connected to the chassis (44).

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