Two-wheeled intelligent mower system and working method

Abstract

The invention provides a two-wheel intelligent mower system and a working method, and belongs to the technical field of mowers, and the two-wheel intelligent mower system comprises a power supply module, a central control system, an environment detection system, a two-wheel driving system, a mowing driving system and a man-machine interaction system. The position of the mower is determined through the environment detection system, autonomous navigation is carried out, the surrounding obstacle environment is detected at the same time, environment information is fed back to the central control system for data analysis and processing, the central control system controls the two-wheel drive system to change the motion state of the mower, and therefore normal work of the mower is guaranteed. The mowing machine is controlled to move and work normally through the central controller and the dual-core ARM controller, the stability and navigation precision of the mowing machine are guaranteed, automatic mowing can be carried out, manual participation is not needed, the labor cost and the work intensity are reduced, and meanwhile the rapid and efficient work requirements are met.

Description

Technical Field

[0001] The present invention mainly relates to the technical field of lawn mowers, and in particular to a two-wheel intelligent lawn mower system and a working method. Background Art

[0002] As the pace of global urbanization accelerates, urban areas continue to expand, and residents' requirements for the quality of their living environment are also increasing. As an important means to improve the urban ecological environment and improve the quality of life of residents, greening has received unprecedented attention. The increase in urban parks, community green spaces, and street green belts has directly promoted the growth in demand for garden maintenance tools such as lawn mowers.

[0003] As the living standards of residents improve, people pay more attention to spiritual satisfaction and the pursuit of a healthy lifestyle. The increase in green space not only beautifies the urban environment, but also provides residents with a place to relax and exercise. Therefore, regular lawn maintenance and green space cleanliness have become important aspects of urban management, further promoting the market demand for lawn mowers and other equipment.

[0004] Under the general trend of consumption upgrading, consumers are no longer satisfied with the basic functions when choosing garden tools such as lawn mowers, but pay more attention to the intelligence, efficiency, environmental protection and ease of operation of the products.

[0005] One of the biggest drawbacks of traditional lawn mowers, especially those powered by old diesel engines, is environmental pollution. These exhaust gases not only pollute the atmosphere and affect air quality, but can also be harmful to human health. Long-term exposure to such an environment poses a potential threat to the health of residents, especially those with sensitive conditions.

[0006] The operation of traditional lawn mowers is also highly dependent on manual labor, which increases labor costs and work intensity. The operator needs to manually control the lawn mower throughout the process, and constantly adjust the travel speed and cutting depth according to factors such as the height and terrain of the lawn to ensure the neatness and beauty of the lawn. This high-intensity physical labor not only requires the operator to have good physical fitness, but also easily leads to fatigue and injury. Especially in the maintenance of large areas of lawn, manually operated lawn mowers are inefficient and difficult to meet the needs of fast and efficient work. Summary of the invention

[0007] The present invention mainly provides a two-wheel intelligent lawn mower system and a working method to solve the technical problems raised in the above background technology.

[0008] The technical solution adopted by the present invention to solve the above technical problems is:

[0009] A two-wheeled intelligent lawn mower system, comprising: a power module, a central control system, an environmental detection system, a two-wheel drive system, a lawn mowing drive system, and a human-computer interaction system;

[0010] The power module includes a power supply and a power conversion module, which is responsible for the power supply of the entire system;

[0011] The central control system includes a central controller and two ARM controllers. The central controller and the two ARM controllers are connected to each other through data lines. The central controller is connected to the laser radar, GPS, and camera through data lines for data transmission.

[0012] The environment detection system includes a laser radar, a camera, an anti-collision bar and an ultrasonic sensor;

[0013] The two-wheel drive system includes a brushless DC motor driver, a brushless DC motor X, and a brushless DC motor Y. The brushless DC motor driver is connected to the brushless DC motor X and the brushless DC motor Y respectively, and each brushless DC motor is matched with an acceleration and speed detection encoder respectively;

[0014] The mowing drive system comprises a brushless DC motor driver and a brushless DC motor Z, wherein the brushless DC motor driver is connected to the brushless DC motor Z, and the brushless DC motor is matched with an acceleration and speed detection encoder;

[0015] The human-computer interaction system comprises a display screen, and the display screen is connected to a central controller via a data line.

[0016] Furthermore, in the present invention, the central controller is an industrial computer, and the ARM controller is an STM32F767 controller and a PAC5532 controller, wherein the STM32F767 controller is connected to a DC brushless driver X, an anti-collision bar, and an ultrasonic sensor, and the PAC5532 controller is connected to a DC brushless driver Y.

[0017] Furthermore, in the present invention, the working method used by any of the above-mentioned two-wheeled intelligent lawn mower systems comprises the following steps:

[0018] S1: Map construction. Before the lawn mower starts mowing, it needs to build a map. The lawn mower is moved by remote control to complete the mowing area. During the walking process, the laser radar and camera are used to detect the lawn area environment in real time, and the detected data is returned to the industrial computer. After analysis and processing, the industrial computer finally forms the entire mowing environment map and stores it; or the lawn map is manually scaled down and directly imported into the central controller of the lawn mower to complete the construction of the lawn mower work area map;

[0019] S2: Obstacle avoidance for the mower. The mower combines the environmental map and navigation information of the entire mowing area. The navigation information is based on the preset mowing strategy to complete the pre-driving path planning for mowing. Then, the sensors return information to complete the real-time positioning and obstacle avoidance of the mower.

[0020] S3: Confirm the position of the lawn mower. The environment is detected in real time through lidar, camera and GPS, and the data is fed back to the central controller. The central controller matches the real-time map with the stored map to determine the real-time position of the lawn mower. The STM32F767 controller controls the DC brushless servo motor X and DC brushless servo motor Y to move, completes the initial position calibration, and puts the lawn mower into autonomous mowing mode, and performs mowing mode according to the preset mowing strategy.

[0021] S4: The lawn mower mows the grass. When entering the mowing mode, the central controller sends a mowing command to the PAC5532 controller. The PAC5532 controller receives the mowing command and sends it to the DC brushless driver Y to drive the DC brushless motor Z to mow the grass.

[0022] Furthermore, in the present invention, the lawn mower system also has a weed collection function:

[0023] When the lawn mower is mowing, the grass bag collects the weeds knocked down by the lawn mower, and the sensor detects whether the grass bag is full of weeds. If the collection is detected to be complete, the sensor returns a signal to the STM32F767 controller, and the STM32F767 controller uploads a signal to the central controller. The central controller makes a judgment and sends a stop mowing command to the PAC5532 controller. The PAC5532 controller drives the DC brushless driver Y to stop the mowing motor. After the mowing motor stops, the central controller controls the STM32F767 controller to drive the walking motor to move to the weed collection area, automatically dump the weeds, and then return to the mowing position to restart the mowing motor for mowing.

[0024] Furthermore, in the present invention, the lawn mower system also has an automatic charging function, and the voltage detection module is connected to the STM32F767 controller. When the STM32F767 controller detects that the voltage is low, it uploads a low voltage signal to the central controller, and the central controller makes a judgment and sends a stop mowing command to the PAC5532 controller, and the PAC5532 controller drives the DC brushless driver Y to stop the movement of the mowing motor;

[0025] After the mowing motor stops, the central controller controls the STM32F767 controller to drive the walking motor to the automatic charging area for charging.

[0026] Furthermore, in the present invention, the lawn mower system also has a manual interaction interface:

[0027] The manual interaction interface displays various motion states and mowing information of the lawn mower on a display screen. The lawn mower can be controlled through the manual interaction interface to complete parameter settings, motion state recording, and local mowing functions.

[0028] Furthermore, in the present invention, after the lawn mower completes the mowing task, the global video and local video of the mowing quality are recorded and stored. After the storage is completed, the lawn mower returns to the waiting area, sleeps, and waits for the next mowing command to wake up and perform mowing work.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] The lawn mower system of the present invention is configured with modules such as a power module, a central control system, an environmental detection system, a two-wheel drive system, a lawn mower drive system, and a human-computer interaction system, and can automatically build a map, avoid obstacles for the lawn mower, confirm the position of the lawn mower, and perform automatic mowing without manual intervention, thereby reducing labor costs and work intensity, and meeting the requirements of fast and efficient work.

[0031] The lawn mower system of the present invention is driven by an electric motor and is provided with an automatic charging function, thereby meeting the power demand while protecting the environment.

[0032] The present invention will be explained in detail below with reference to the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a framework diagram of the lawn mower system of the present invention. DETAILED DESCRIPTION

[0034] To facilitate understanding of the present invention, the present invention will be described more comprehensively below with reference to the relevant drawings. Several embodiments of the present invention are given in the drawings, but the present invention can be implemented in different forms and is not limited to the embodiments described in the text. On the contrary, these embodiments are provided to make the content disclosed in the present invention more thorough and comprehensive.

[0035] It should be noted that when an element is referred to as being "fixed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used in this article are for illustrative purposes only.

[0036] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which the present invention belongs. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0037] For examples, please refer to the attached Figure 1 A two-wheeled intelligent lawn mower system, comprising: a power module, a central control system, an environmental detection system, a two-wheel drive system, a lawn mowing drive system, and a human-computer interaction system;

[0038] The power module includes a power supply and a power conversion module, which is responsible for the power supply of the entire system;

[0039] The central control system includes a central controller and two ARM controllers. The central controller and the two ARM controllers are connected to each other through data lines. The central controller is connected to the laser radar, GPS, and camera through data lines for data transmission.

[0040] The environment detection system includes a laser radar, a camera, an anti-collision bar and an ultrasonic sensor;

[0041] The two-wheel drive system includes a brushless DC motor driver, a brushless DC motor X, and a brushless DC motor Y. The brushless DC motor driver is connected to the brushless DC motor X and the brushless DC motor Y respectively, and each brushless DC motor is matched with an acceleration and speed detection encoder respectively;

[0042] The mowing drive system comprises a brushless DC motor driver and a brushless DC motor Z, wherein the brushless DC motor driver is connected to the brushless DC motor Z, and the brushless DC motor is matched with an acceleration and speed detection encoder;

[0043] The human-computer interaction system comprises a display screen, and the display screen is connected to a central controller via a data line.

[0044] Further, the central controller is an industrial computer, and the ARM controller is an STM32F767 controller and a PAC5532 controller, wherein the STM32F767 controller is connected to a DC brushless driver X, an anti-collision bar, and an ultrasonic sensor, and the PAC5532 controller is connected to a DC brushless driver Y;

[0045] It should be noted that in this embodiment, the preferred central controller is an 11th generation i71165G7 industrial computer with a main frequency of 2.8GHz, quad-core 8 threads, 16G memory, 512G solid-state hard disk, and built-in WIFI. It supports power-on, network wake-up, dual network ports and dual serial ports. The closed metal shell heat dissipation design is dust-proof, high temperature-proof, corrosion-proof, and has strong anti-interference capabilities. It has harsh working conditions and can meet the working environment requirements of patrol robots.

[0046] It should also be noted that the preferred ARM controller is STM32F767, which uses a high-performance ARM Cortex-M7 32-bit RISC core with an operating frequency of up to 216MHz. The Cortex-M7 core has a single floating point unit (SFPU) precision and supports all Single-precision data processing instructions and data types. It also implements a full set of DSP instructions and a memory protection unit (MPU) to enhance application security. The STM32F767 provides three 12-bit ADCs, two DACs, a low-power RTC, thirteen general-purpose 16-bit timers (including two PWM timers for motor control and a low-power timer available in stop mode), and two general-purpose 32-bit timers. The STM32F767 can perfectly meet the performance requirements of robots.

[0047] It should also be noted that the preferred ARM controller is a high-performance PAC5532 microcontroller launched by Active-Semi. PAC5532 integrates the ARM Cortex-M4F 32-bit microcontroller core, has 128kB of embedded Flash memory and 32kB of data RAM, and supports a maximum clock frequency of up to 150MHz. In addition, it is equipped with a 12-bit ADC resolution and 29 I / O ports, suitable for applications requiring high-performance processing and control. PAC5532 provides a highly integrated solution, including power management, high-side and low-side gate drivers, and signal conditioning components, programmable overcurrent protection for the motor drive stage, and an integrated 160V DC / DC buck controller to meet the requirements of mowing motor drives.

[0048] Furthermore, the working method used by any of the above-mentioned two-wheeled intelligent lawn mower systems comprises the following steps:

[0049] S1: Map construction. Before the lawn mower starts mowing, it needs to build a map. The lawn mower is moved by remote control to complete the mowing area. During the walking process, the laser radar and camera are used to detect the lawn area environment in real time, and the detected data is returned to the industrial computer. After analysis and processing, the industrial computer finally forms the entire mowing environment map and stores it; or the lawn map is manually scaled down and directly imported into the central controller of the lawn mower to complete the construction of the lawn mower work area map;

[0050] S2: Obstacle avoidance for the mower. The mower combines the environmental map and navigation information of the entire mowing area. The navigation information is based on the preset mowing strategy to complete the pre-driving path planning for mowing. Then, the sensors return information to complete the real-time positioning and obstacle avoidance of the mower.

[0051] S3: Confirm the position of the lawn mower. The environment is detected in real time through lidar, camera and GPS, and the data is fed back to the central controller. The central controller matches the real-time map with the stored map to determine the real-time position of the lawn mower. The STM32F767 controller controls the DC brushless servo motor X and DC brushless servo motor Y to move, completes the initial position calibration, and puts the lawn mower into autonomous mowing mode, and performs mowing mode according to the preset mowing strategy.

[0052] S4: The lawn mower mows the grass. When entering the mowing mode, the central controller sends a mowing command to the PAC5532 controller. The PAC5532 controller receives the mowing command and sends it to the DC brushless driver Y to drive the DC brushless motor Z to mow the grass.

[0053] It should be noted that, in this embodiment, in step S2, when an obstacle is detected, the central controller sends an obstacle avoidance command to the STM32F767 controller, and the STM32F767 controller sends a control command to the driver, and the driver drives the brushless DC servo motor X and the brushless DC servo motor Y to complete the obstacle avoidance of the lawn mower;

[0054] In step S4, the mowing information of the lawn mower is transmitted back to the central controller in real time through the laser radar and the camera. The central controller evaluates the mowing quality of the lawn mower and determines whether to continue mowing according to the evaluation criteria.

[0055] Furthermore, in the present invention, the lawn mower system also has a weed collection function:

[0056] When the lawn mower is mowing, the grass bag collects the weeds knocked down by the lawn mower, and the sensor detects whether the grass bag is full of weeds. If the collection is detected to be complete, the sensor returns a signal to the STM32F767 controller, and the STM32F767 controller uploads a signal to the central controller. The central controller makes a judgment and sends a stop mowing command to the PAC5532 controller. The PAC5532 controller drives the DC brushless driver Y to stop the mowing motor. After the mowing motor stops, the central controller controls the STM32F767 controller to drive the walking motor to move to the weed collection area, automatically dump the weeds, and then return to the mowing position to restart the mowing motor for mowing.

[0057] Furthermore, in the present invention, the lawn mower system also has an automatic charging function, and the voltage detection module is connected to the STM32F767 controller. When the STM32F767 controller detects that the voltage is low, it uploads a low voltage signal to the central controller, and the central controller makes a judgment and sends a stop mowing command to the PAC5532 controller, and the PAC5532 controller drives the DC brushless driver Y to stop the movement of the mowing motor;

[0058] After the mowing motor stops, the central controller controls the STM32F767 controller to drive the walking motor to the automatic charging area for charging.

[0059] Furthermore, in the present invention, the lawn mower system also has a manual interaction interface:

[0060] The manual interaction interface displays various motion states and mowing information of the lawn mower on a display screen. The lawn mower can be controlled through the manual interaction interface to complete parameter settings, motion state recording, and local mowing functions.

[0061] Furthermore, in the present invention, after the lawn mower completes the mowing task, the global video and local video of the mowing quality are recorded and stored. After the storage is completed, the lawn mower returns to the waiting area, sleeps, and waits for the next mowing command to wake up and perform mowing work.

[0062] The above is an exemplary description of the present invention in combination with the accompanying drawings. It is obvious that the specific implementation of the present invention is not limited to the above-mentioned method. As long as such non-substantial improvements are made by adopting the method concept and technical solution of the present invention, or the concept and technical solution of the present invention are directly applied to other occasions without improvement, they are all within the protection scope of the present invention.

Claims

1. A two-wheeled intelligent lawn mower system, characterized in that: include: Power module, central control system, environmental detection system, two-wheel drive system, mowing drive system, human-computer interaction system; The power module includes a power supply and a power conversion module, which is responsible for the power supply of the entire system; The central control system includes a central controller and two ARM controllers. The central controller and the two ARM controllers are connected to each other through data lines. The central controller is connected to the laser radar, GPS, and camera through data lines for data transmission. The environment detection system includes a laser radar, a camera, an anti-collision bar and an ultrasonic sensor; The two-wheel drive system includes a brushless DC motor driver, a brushless DC motor X, and a brushless DC motor Y. The brushless DC motor driver is connected to the brushless DC motor X and the brushless DC motor Y respectively, and each brushless DC motor is matched with an acceleration and speed detection encoder respectively; The mowing drive system comprises a brushless DC motor driver and a brushless DC motor Z, wherein the brushless DC motor driver is connected to the brushless DC motor Z, and the brushless DC motor is matched with an acceleration and speed detection encoder; The human-computer interaction system comprises a display screen, and the display screen is connected to a central controller via a data line.

2. A two-wheeled intelligent lawn mower system according to claim 1, characterized in that: The central controller is an industrial computer, and the ARM controller is an STM32F767 controller and a PAC5532 controller, wherein the STM32F767 controller is connected to a DC brushless driver X, an anti-collision bar, and an ultrasonic sensor, and the PAC5532 controller is connected to a DC brushless driver Y.

3. The working method used by any two-wheeled intelligent lawn mower system according to any one of claims 1-2, characterized in that: The following steps are involved: S1: Map construction. Before the lawn mower starts mowing, a map needs to be constructed. The lawn mower is moved by remote control to complete the mowing area. During the walking process, the laser radar and camera are used to detect the lawn area environment in real time, and the detected data is returned to the industrial computer. After analysis and processing, the industrial computer finally forms the entire mowing environment map and stores it; or The lawn map is manually scaled down and directly imported into the central controller of the lawn mower to complete the construction of the lawn mower work area map; S2: Obstacle avoidance for the mower. The mower combines the environmental map and navigation information of the entire mowing area. The navigation information is based on the preset mowing strategy to complete the pre-driving path planning for mowing. Then, the sensors return information to complete the real-time positioning and obstacle avoidance of the mower. S3: Confirm the position of the lawn mower. The environment is detected in real time through lidar, camera and GPS, and the data is fed back to the central controller. The central controller matches the real-time map with the stored map to determine the real-time position of the lawn mower. The STM32F767 controller controls the DC brushless servo motor X and DC brushless servo motor Y to move, completes the initial position calibration, and puts the lawn mower into autonomous mowing mode, and performs mowing mode according to the preset mowing strategy. S4: The lawn mower mows the grass. When entering the mowing mode, the central controller sends a mowing command to the PAC5532 controller. The PAC5532 controller receives the mowing command and sends it to the DC brushless driver Y to drive the DC brushless motor Z to mow the grass.

4. The working method used by the two-wheeled intelligent lawn mower system according to claim 3, characterized in that: This mowing system also has a weed collection function: When the lawn mower is mowing, the grass bag collects the weeds knocked down by the lawn mower, and the sensor detects whether the grass bag is full of weeds. If the collection is detected to be complete, the sensor returns a signal to the STM32F767 controller, and the STM32F767 controller uploads a signal to the central controller. The central controller makes a judgment and sends a stop mowing command to the PAC5532 controller. The PAC5532 controller drives the DC brushless driver Y to stop the mowing motor. After the mowing motor stops, the central controller controls the STM32F767 controller to drive the walking motor to move to the weed collection area, automatically dump the weeds, and then return to the mowing position to restart the mowing motor for mowing.

5. The working method used by the two-wheeled intelligent lawn mower system according to claim 3, characterized in that: The lawn mower system also has an automatic charging function. The voltage detection module is connected to the STM32F767 controller. When the STM32F767 controller detects that the voltage is low, it uploads a low voltage signal to the central controller, which makes a judgment and sends a stop mowing command to the PAC5532 controller. The PAC5532 controller drives the DC brushless driver Y to stop the mowing motor. After the mowing motor stops, the central controller controls the STM32F767 controller to drive the walking motor to the automatic charging area for charging.

6. The working method used by the two-wheeled intelligent lawn mower system according to claim 3, characterized in that: The lawn mower system also has a human interaction interface: The manual interaction interface displays various motion states and mowing information of the lawn mower on a display screen. The lawn mower can be controlled through the manual interaction interface to complete parameter settings, motion state recording, and local mowing functions.

7. The working method used by the two-wheeled intelligent lawn mower system according to claim 3, characterized in that: After the lawn mower completes the mowing task, it records and stores the global and local videos of the mowing quality. After the storage is completed, the lawn mower returns to the waiting area, goes into hibernation, and waits for the next mowing command to wake up and start mowing.

Images