Mountain photovoltaic movable crawler remote control mower

Abstract

The invention provides a movable crawler remote control mower suitable for mountain photovoltaic, and relates to the technical field of grid-connected photovoltaic power generation systems, the movable crawler remote control mower comprises a support base, a set of storage battery power supply motor is arranged in the support base, the power supply motor is connected with a crawler driving wheel, the crawler driving wheel is connected with a mower crawler, and the crawler driving wheel is connected with the crawler. A treatment box is fixedly installed at the top end of the support base, and a mowing device is arranged in the treatment box. By arranging the movable mowing device, a mountain lawn is effectively cut through the mowing device. The technical problems that in the background technology, an existing photovoltaic field is multiple in area points, wide in area and large in occupied area, and a traditional manual weeding mode is low in efficiency and unsafe are effectively solved.

Description

Technical Field

[0001] This invention relates to the field of grid-connected photovoltaic power generation system technology, specifically a mobile tracked remote-controlled lawnmower adapted for use in mountain photovoltaic systems. Background Technology

[0002] Solar energy is an inexhaustible renewable energy source for humankind, possessing advantages such as cleanliness, absolute safety, relative widespread availability, maintenance-free operation, abundant resources, and potential economic viability. Solar photovoltaic (PV) power generation systems, as an emerging power generation project in China, have become a focus of attention due to their safety, reliability, noiselessness, clean energy, abundant resources, lack of geographical limitations, and short construction period. Their application will significantly reduce greenhouse gas emissions, decrease human dependence on fossil fuels, and effectively reduce environmental pollution, demonstrating significant environmental benefits compared to traditional fossil fuels. However, mountainous terrain is diverse for PV systems. PV modules are the smallest power generation unit in a power station, and tree shading can severely impact their power output. At best, it can cause hot spots on the module surface; at worst, it can lead to short circuits and wildfires, greatly disrupting the stable operation of the power station.

[0003] Existing photovoltaic (PV) fields are numerous and widely distributed, occupying large areas. Traditional manual weeding methods are inefficient and unsafe. Therefore, there is an urgent need to develop a mobile, tracked, remote-controlled lawnmower suitable for mountainous PV applications, thereby overcoming the shortcomings of current practical applications. Summary of the Invention

[0004] This invention provides a mobile tracked remote-controlled lawn mower adapted for use in mountain photovoltaic projects, in order to solve the technical problems mentioned in the background art, namely that existing photovoltaic fields are numerous and widely distributed, occupying a large area, and that the traditional manual weeding method is inefficient and unsafe.

[0005] To solve the above-mentioned technical problems, the present invention discloses a mobile tracked remote-controlled lawnmower adapted for mountain photovoltaic use, comprising: a support base, a battery-powered motor installed inside the support base, the power supply motor being connected to the track drive wheel, the track drive wheel being connected to the lawnmower track, and a processing box being fixedly installed at the top of the support base, the processing box containing a lawnmower device.

[0006] Preferably, the mowing device includes: a drive motor, the fixed end of the drive motor is fixedly mounted on a connecting rod, the output end of the drive motor is fixedly mounted with a short rod, the front and rear ends of the short rod are respectively symmetrically fixedly mounted with one end of a connecting rod, and the other end of the connecting rod is symmetrically provided with a blade fixing mechanism on the left and right sides.

[0007] Preferably, the front-end blade fixing mechanism includes: a slide rod 1, the front and rear ends of which are fixedly installed on the inner wall of the cavity provided inside the connecting rod 2, and a slider 1 is fixedly installed on the slide rod 1. A drive motor 2 is fixedly installed at the top of the slider 1, and a reset spring is sleeved on the slide rod 1 near the end of the drive motor 1.

[0008] Preferably, the output ends of the second drive motor are respectively fixedly installed with a chaff cutter head and a saw blade head in the two sets of blade fixing mechanisms at the front and rear of the short rod.

[0009] Preferably, the bottom end of the mowing device is connected to a displacement mechanism, which includes: a mounting frame, the mounting frame being symmetrically and fixedly mounted on the inner walls of the bottom sides of the left and right ends of the processing box, and a motor being fixedly mounted on the rear end of the left mounting frame, one end of a threaded rod being fixedly mounted on the output end of the motor, the other end of the threaded rod being rotatably connected to the inner wall of the front end of the mounting frame, and a slider two being threadedly connected to the threaded rod; a sliding rod two being fixedly mounted on the inner walls of the front and rear ends of the right mounting frame, and a slider three being slidably connected to the sliding rod two; and slider two and slider three being fixedly mounted on a connecting rod one.

[0010] Preferably, the front end of the processing box is provided with a through hole, and the support base and the front end of the processing box are fixedly installed with a baffle, and two sets of cameras are fixedly installed on the top of the processing box.

[0011] Preferably, the mobile tracked remote-controlled lawnmower adapted for mountain photovoltaic applications further includes:

[0012] A speed sensor is used to detect the moving speed of the lawnmower;

[0013] The controller and alarm are electrically connected, with the controller being connected to the speed sensor and the alarm.

[0014] Preferably, the controller controls the alarm based on the speed sensor, including the following steps:

[0015] Step 1: Calculate the actual output torque T of the lawnmower track power supply motor according to formula (1):

[0016]

[0017] Where G is the weight of the lawnmower, L is the length of the lawnmower track in contact with the ground, and λ max Let be the maximum drag coefficient of the lawnmower when turning, μ be the drag coefficient between the lawnmower track and the soil, r be the turning radius of the lawnmower track, d be the center distance between the lawnmower tracks, α be the lateral offset of the lawnmower track, and F be the maximum drag coefficient of the lawnmower when turning. m R represents the soil friction force acting on the lawnmower track, and R is the radius of the lawnmower track drive wheel.

[0018] Step 2: Calculate the actual output power W of the lawnmower's power supply motor based on the following formula (2) and the speed sensor detection value. The controller compares the actual output power W of the lawnmower's power supply motor with the preset output power range. When the actual output power is not within the preset output power range, the controller activates the alarm.

[0019]

[0020] Where V is the speed sensor reading, S is the number of teeth on the lawnmower track drive wheel, Z is the lawnmower track pitch, and P... j denoted as the average ground pressure of the lawnmower track, n is the number of lawnmower tracks, and X is the width of the lawnmower track. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0022] Figure 1 A front view of the structure provided in an embodiment of the present invention;

[0023] Figure 2 This is a top view of the internal structure of the processing box provided in an embodiment of the present invention;

[0024] Figure 3 This is a schematic diagram of the cutter head fixing mechanism provided in an embodiment of the present invention.

[0025] Figure label:

[0026] 1. Support base; 2. Lawn mower track; 3. Processing box; 4. Drive motor one; 5. Connecting rod one; 6. Short rod; 7. Connecting rod two; 8. Slide rod one; 9. Cavity; 10. Slider one; 11. Drive motor two; 12. Return spring; 13. Serrated blade; 14. Motor; 15. Threaded rod; 16. Slider two; 17. Slider two; 18. Slider three; 19. Through hole; 20. Baffle; 21. Camera; 22. Mounting frame; 23. Lawn cutter blade. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0028] Furthermore, in this invention, the use of terms such as "first" and "second" is for descriptive purposes only and does not specifically refer to any order or sequence, nor is it intended to limit the invention. They are merely used to distinguish components or operations described using the same technical terms and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions and features of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If a combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0029] The present invention provides the following embodiments.

[0030] Example 1

[0031] This invention provides a mobile tracked remote-controlled lawnmower adapted for use in mountain photovoltaic applications, such as... Figure 1 As shown, it includes: a support base 1, a battery-powered motor is installed inside the support base 1, the power supply motor is connected to the track drive wheel, the track drive wheel is connected to the lawnmower track 2, and a processing box 3 is fixedly installed on the top of the support base 1, and a lawnmower device is installed inside the processing box 3.

[0032] The beneficial effects of the above technical solution are as follows: The present invention provides power to the track drive wheel via a power supply motor within the support base 1. The track drive wheel drives the lawnmower track 2 to move to the desired mowing position, and then the mowing device is activated to effectively remove the grass at the mowing position. This effectively improves upon the technical problems raised in the background art: existing photovoltaic fields are numerous and widely distributed, occupying a large area, and the traditional manual weeding method is inefficient and unsafe.

[0033] Example 2

[0034] Based on Example 1, such as Figure 1-3As shown, a mobile tracked remote-controlled lawnmower adapted for mountain photovoltaic applications is disclosed. The lawnmower includes: a drive motor 4, the fixed end of which is fixedly mounted on a connecting rod 5, a short rod 6 fixedly mounted on the output end of the drive motor 4, and connecting rods 7 symmetrically mounted on the front and rear ends of the short rod 6. Blade fixing mechanisms are symmetrically arranged on the left and right sides of the other end of the connecting rods 7.

[0035] Optionally, the front-end blade fixing mechanism includes: a slide bar 8, the front and rear ends of which are fixedly installed on the inner wall of the cavity 9 provided in the connecting rod 7, and a slider 10 is fixedly installed on the slide bar 8. A drive motor 11 is fixedly installed at the top of the slider 10, and a return spring 12 is sleeved on the slide bar 8 near the drive motor 4.

[0036] Optionally, the output ends of the drive motor 11 in the front and rear sets of blade fixing mechanisms of the short rod 6 are respectively fixedly installed with chaff cutter blade 23 and saw blade 13.

[0037] Optionally, the bottom end of the mowing device is connected to a displacement mechanism, which includes: a mounting frame 22, which is symmetrically fixedly installed on the inner walls of the bottom sides of the left and right ends of the processing box 3, and a motor 14 is fixedly installed at the rear end of the left mounting frame 22. One end of a threaded rod 15 is fixedly installed at the output end of the motor 14, and the other end of the threaded rod 15 is rotatably connected to the inner wall of the front end of the mounting frame 22. A second slider 16 is threadedly connected to the threaded rod 15. A second slider 17 is fixedly installed on the inner walls of the front and rear ends of the right mounting frame 22. A third slider 18 is slidably connected to the second slider 17. The second slider 16 and the third slider 18 are fixedly installed on a connecting rod 5.

[0038] Optionally, the processing box 3 has a through hole 19 at its front end, and a baffle 20 is fixedly installed on the support base 1 and the front end of the processing box 3, and two sets of cameras 21 are fixedly installed on the top of the processing box 3.

[0039] Optionally, a remote control system is also provided inside the bracket base 1.

[0040] The working principle of the above technical solution is as follows: When the device needs to be used, the power supply motor is started first. The power supply motor drives the track drive wheel and the drive mower track 2 connected to the track drive wheel, and moves it to the desired mowing position in conjunction with the camera 21. Then, when weeds and shrubs need to be cut, the motor 14 is started. The motor 14 drives the slider 16 connected to it to move back and forth, thereby driving the connecting rod 5 fixed to it to move back and forth, thereby moving the blade fixing mechanism at one end out of the processing box 3 through the through hole 19. Then, the drive motor 11 is started. The drive motor 11 rotates and drives the chaff cutter blade 23 fixed to it to rotate, thereby effectively cutting weeds and shrubs. When trees need to be cut, the drive motor 4 is started and rotated. The drive motor 4 rotates and drives the short rod 6 fixed to it to rotate, and the short rod 6 rotates and drives the connecting rod 7 fixed to it to rotate, thereby turning the blade fixing mechanisms at both ends, thereby effectively cutting the trees.

[0041] The beneficial effects of the above technical solution are as follows: By setting the baffle 20, the present invention helps to prevent shredded weeds from splashing out during the mowing operation; by setting the camera 21, it helps to effectively observe the surrounding environment; by setting the displacement mechanism, it helps to move the blade fixing mechanism out of the processing box 3 through the through hole 19; by setting the drive motor 4 and the short rod 6, it helps to turn the blade fixing mechanism; by setting the chaff cutter blade 23 and the serrated blade 13, it helps to effectively cut different types of grass and trees; by setting the return spring 12, it helps to effectively buffer the cutting of the blade and prevent excessive stress from damaging the blade, which is very convenient and practical.

[0042] Example 3

[0043] Based on Examples 1-2, a mobile tracked remote-controlled lawnmower adapted for mountain photovoltaic applications is provided, wherein the remote control system includes:

[0044] The remote control device is ergonomically designed for easy gripping and operation, and supports a variety of control commands (such as start, stop, forward, backward, left and right steering adjustment).

[0045] The wireless communication module adopts an advanced wireless communication protocol to ensure stable and reliable signal transmission between the remote control device and the lawnmower body, with low latency;

[0046] The intelligent navigation module integrates a high-precision GPS module and multiple sensors, enabling it to autonomously plan the optimal mowing path, avoiding repeated cutting and missing areas, while also supporting user-defined mowing areas.

[0047] The obstacle detection and avoidance module uses a combination of multiple sensors (such as ultrasonic, infrared and lidar) to detect and avoid obstacles on the lawn in real time, ensuring safety during the mowing process.

[0048] The safety protection module includes an emergency stop button, a collision sensor, and a tilt sensor. When an abnormal situation is detected, the lawnmower will stop working immediately to prevent accidents.

[0049] The power management module monitors the battery level of the lawnmower in real time. When the battery level is lower than a preset threshold, it automatically navigates to the charging station for charging. After charging is completed, it returns to the unfinished work area to continue mowing.

[0050] The lawn mowing effect monitoring and optimization module uses camera 21 and image recognition technology to monitor the mowing effect in real time and automatically adjust the cutting speed of the blades to ensure that the lawn is clean and beautiful.

[0051] Optionally, the remote control device further includes a display screen for displaying the real-time location of the lawnmower body, battery level, remaining working time, and map information of the preset mowing area, facilitating real-time monitoring and operation by the user.

[0052] Optionally, the intelligent navigation module also has a memory function, which can store and reuse multiple optimized mowing paths to improve mowing efficiency.

[0053] Optionally, the obstacle detection and avoidance module can identify and avoid different types of obstacles (such as flower beds, pets, etc.) to ensure the safety and accuracy of the lawn mowing process.

[0054] Optionally, the safety protection module also includes: an audible and visual alarm device that alerts the user when the lawnmower encounters an obstacle or requires maintenance, reminding the user to handle the situation promptly.

[0055] Optionally, the remote control system also supports remote control and monitoring via a mobile app, allowing users to check the lawnmower's status, control its operation, and receive alarm information anytime, anywhere.

[0056] Example 4

[0057] Based on Examples 1-3, a mobile tracked remote-controlled lawnmower adapted for mountain photovoltaic applications is provided, the lawnmower further comprising:

[0058] A speed sensor is used to detect the moving speed of the lawnmower;

[0059] The controller and alarm are electrically connected, with the controller being connected to the speed sensor and the alarm.

[0060] Preferably, the controller controls the alarm based on the speed sensor, including the following steps:

[0061] Step 1: Calculate the actual output torque T of the lawnmower track power supply motor according to formula (1):

[0062]

[0063] Where G is the weight of the lawnmower, L is the length of the lawnmower track 2 in contact with the ground, and λ max denoted as , where μ is the maximum drag coefficient of the lawnmower when turning (range 0.24-0.86), μ is the drag coefficient between the lawnmower track 2 and the soil (range 0-1.0), r is the turning radius of the lawnmower track 2, d is the center distance of the lawnmower track 2, α is the lateral offset of the lawnmower track 2, and F... m R is the soil friction force acting on the lawnmower track 2, and R is the radius of the lawnmower track drive wheel;

[0064] Step 2: Calculate the actual output power W of the lawnmower's power supply motor based on the following formula (2) and the speed sensor detection value. The controller compares the actual output power W of the lawnmower's power supply motor with the preset output power range. When the actual output power is not within the preset output power range, the controller activates the alarm.

[0065]

[0066] Where V is the speed sensor reading, S is the number of teeth on the second drive wheel of the lawnmower track, Z is the pitch of the second lawnmower track, and P... j The average ground pressure of the lawnmower track 2 (ground pressure refers to the pressure of the track on the ground per unit area, while the average ground pressure is the average pressure value after considering the contact area between the track and the ground, with a value range of 100kPa-160kPa), n is the number of lawnmower tracks 2, and X is the width of lawnmower tracks 2.

[0067] The beneficial effects of the above technical solution are as follows: The controller controls the alarm to work based on the speed sensor. First, according to formula (1), the actual output torque of the lawnmower track power supply motor is calculated. By comprehensively considering the weight of the lawnmower, the length of the lawnmower track 2 in contact with the ground, the maximum resistance coefficient of the lawnmower when turning, the resistance coefficient between the lawnmower track 2 and the soil, the turning radius of the lawnmower track 2, the center distance of the lawnmower track 2, the lateral offset of the lawnmower track 2, the soil friction force on the lawnmower track 2, and the radius of the lawnmower track drive wheel, the calculation results are more accurate and reliable.

[0068] Then, based on formula (2) and the speed sensor detection value, the actual output power of the lawnmower track power supply motor is calculated, and the number of teeth of the drive wheel of the drive track, the pitch of the lawnmower track 2, the average ground voltage of the lawnmower track 2, the number of lawnmower tracks 2, and the width of the lawnmower track 2 are taken into account to make the calculation results more accurate and reliable.

[0069] The controller controls the speed sensor to work. The controller compares the actual output power of the lawnmower's power supply motor with the preset output power range. When the actual output power is not within the preset output power range, the controller controls the alarm to sound, reminding the staff to repair or replace the lawnmower's track motor in time, thereby meeting the user's needs for this type of mobile tracked remote-controlled lawnmower suitable for mountain photovoltaic applications.

[0070] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A mobile crawler remote-controlled lawn mower suitable for mountain photovoltaics, characterized in that: include: A support base (1) is provided with a battery-powered motor inside the support base (1), the power supply motor is connected to a crawler drive wheel, the crawler drive wheel is connected to a lawn mower crawler (2), a processing box (3) is fixedly mounted on the top of the support base (1), and a mowing device is provided inside the processing box (3).

2. The movable crawler remote-controlled lawn mower suitable for mountain photovoltaic use according to claim 1, characterized in that: The mowing device comprises: a driving motor 1 (4), the fixed end of the driving motor 1 (4) is fixedly mounted on a connecting rod 1 (5), a short rod (6) is fixedly mounted on the output end of the driving motor 1 (4), one end of a connecting rod 2 (7) is symmetrically fixedly mounted on the front and rear ends of the short rod (6), and a cutter head fixing mechanism is symmetrically arranged on the left and right sides of the other end of the connecting rod 2 (7).

3. The movable crawler remote-controlled lawn mower suitable for mountain photovoltaic use according to claim 2, characterized in that: The blade fixing mechanism at the front end comprises: a slide rod (8), the front and rear ends of which are fixedly mounted on the inner wall of a cavity (9) provided in a connecting rod (7), and a slider (10) is fixedly mounted on the slide rod (8), a driving motor (11) is fixedly mounted on the top of the slider (10), and a return spring (12) is sleeved on the slide rod (8) near one end of the driving motor (4).

4. The movable crawler remote-controlled lawn mower suitable for mountain photovoltaic use according to claim 3, characterized in that: The output ends of the second drive motor (11) in the two groups of cutter head fixing mechanisms in front and behind the short rod (6) are respectively fixedly mounted with a grass mower cutter head (23) and a sawtooth cutter head (13).

5. The movable crawler remote-controlled lawn mower suitable for mountain photovoltaic use according to claim 1, characterized in that: The bottom end of the mowing device is connected to a displacement mechanism, and the displacement mechanism comprises: a mounting frame (22), the mounting frame (22) is symmetrically fixedly mounted on the inner walls of the bottom sides of the left and right ends of the processing box (3), and a motor (14) is fixedly mounted on the rear end of the left mounting frame (22), one end of a threaded rod (15) is fixedly mounted on the output end of the motor (14), the other end of the threaded rod (15) is rotatably connected to the inner wall of the front end of the mounting frame (22), and a slider 2 (16) is threadedly connected to the threaded rod (15), and a slider 2 (17) is fixedly mounted on the inner walls of the front and rear ends of the right mounting frame (22), a slider 3 (18) is slidably connected to the slider 2 (17), and a connection between the slider 2 (16) and the slider 3 (18) is fixedly mounted on the connecting rod 1 (5).

6. The movable crawler remote-controlled lawn mower suitable for mountain photovoltaic use according to claim 1, characterized in that: The front end of the processing box (3) is provided with a through hole (19), and a baffle (20) is fixedly installed on the support base (1) and the front end of the processing box (3), and two groups of cameras (21) are fixedly installed on the top of the processing box (3).

7. The movable crawler remote-controlled lawn mower suitable for mountain photovoltaic use according to claim 1, characterized in that: The lawn mower also includes: A speed sensor for detecting the moving speed of the lawn mower; A controller and an alarm are electrically connected to the speed sensor and the alarm.

8. The movable crawler remote-controlled lawn mower suitable for mountain photovoltaic use according to claim 7, characterized in that: The controller controls the alarm to work based on the speed sensor, including the following steps: Step 1: According to formula (1), calculate the actual output torque T of the lawn mower crawler power supply motor: Where G is the weight of the mower, L is the length of the mower track (2) in contact with the ground, and λ max is the maximum resistance coefficient of the mower when turning, μ is the resistance coefficient between the mower crawler (2) and the soil, r is the turning radius of the mower crawler (2), d is the center distance of the mower crawler (2), α is the lateral offset of the mower crawler (2), and F m is the soil friction force exerted on the lawn mower crawler (2), and R is the radius of the lawn mower crawler drive wheel; Step 2: According to the following formula (2) and the speed sensor detection value, the actual output power W of the lawn mower power supply motor is calculated. The controller compares the actual output power W of the lawn mower power supply motor with the preset output power range. When the actual output power is not within the preset output power range, the controller controls the alarm to sound an alarm: Where V is the speed sensor detection value, S is the number of teeth of the driving wheel of the lawn mower crawler (2), Z is the pitch of the lawn mower crawler (2), P j is the average ground contact pressure of the lawn mower crawler (2), n is the number of lawn mower crawlers (2), and X is the width of the lawn mower crawler (2).

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