A two-wheel intelligent mower system and working method

Abstract

The application provides a two-wheel intelligent mower system and a working method, and belongs to the technical field of mowers, and comprises a power 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 environment detection system determines the position of the mower and performs autonomous navigation while detecting the surrounding obstacles and environment, and feeds back the environment information to the central control system for data analysis and processing. The central control system controls the two-wheel driving system to change the motion state of the mower, so as to ensure the normal working of the mower. The central controller + dual-core ARM controller is used for controlling the motion and normal working of the mower, the stability and navigation precision of the mower are ensured, the mower can automatically mow, manual participation is not needed, the labor cost and working strength are reduced, and the working requirements of rapidness and high efficiency are met.

Description

TECHNICAL FIELD

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

[0002] With the acceleration of global urbanization, the urban area is expanding, and residents' requirements for living environment quality are also increasing. As an important means to improve the urban ecological environment and improve the quality of residents' life, greening has never been valued as before. The increase of urban parks, community green spaces and street green belts directly promotes the growth of demand for lawn maintenance tools such as lawn mowers.

[0003] With the improvement of residents' living standards, people pay more attention to the spiritual satisfaction and the pursuit of a healthy lifestyle. The increase of green space not only beautifies the urban environment, but also provides residents with a place for leisure and exercise. Therefore, regular maintenance of lawns and keeping green spaces clean have become an important part of urban management, further promoting the market demand for lawn mowers and other equipment.

[0004] Under the trend of consumption upgrading, consumers' choice of lawn mowers and other garden tools is no longer just satisfied with basic functions, but more focused on the intelligence, efficiency, environmental protection and ease of operation of the products.

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

[0006] The operation of traditional lawn mowers also highly depends on manual labor, increasing labor costs and work intensity. The operator needs to manually control the lawn mower throughout the process, constantly adjusting the speed and cutting depth according to the height of the lawn, terrain and other factors 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-area lawns, manually operated lawn mowers are inefficient and difficult to meet the demand for fast and efficient work. SUMMARY

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

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

[0009] A two-wheel intelligent lawn mower system, comprising: a power module, a central control system, an environment detection system, a two-wheel drive system, a lawn cutting drive system, and a human-machine interaction system.

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

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

[0012] The environment detection system includes a laser radar, a camera, a collision avoidance rod and an ultrasonic sensor;

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

[0014] The grass cutting drive system includes a direct-current brushless motor driver Y and a direct-current brushless motor Z, the direct-current brushless motor driver Y is connected with the direct-current brushless motor Z, and the direct-current brushless motor driver Y is matched with an acceleration and speed detection encoder;

[0015] The man-machine interaction system includes a display screen connected with the central controller through a data line.

[0016] Further, in the application, the central controller is an industrial computer, the ARM controller is an STM32F767 controller and a PAC5532 controller, the STM32F767 controller is connected with the direct-current brushless driver X, the collision avoidance rod and the ultrasonic sensor, and the PAC5532 controller is connected with the direct-current brushless driver Y.

[0017] Further, in the application, the working method of the two-wheel intelligent grass cutting machine system includes the following steps:

[0018] S1: map construction, before cutting grass, the grass cutting machine needs to construct a map, the grass cutting machine is moved by manual remote control to complete walking in a cutting area, in the walking process, the laser radar and the camera are used for real-time environment detection of the lawn area, and the detected data is returned to the industrial computer, the industrial computer analyzes and processes the data to finally form a whole cutting environment map and store the map; or the artificial directly imports the map of the lawn in the central controller of the grass cutting machine according to the proportion reduction, to complete the map construction of the working area of the grass cutting machine;

[0019] S2: The mower avoids obstacles, the mower combines the environment map of the entire mowing area and the navigation information, the navigation information is to complete the mowing pre-travel path planning according to the preset mowing strategy, then the information returned by each sensor is used to complete the real-time positioning and obstacle avoidance of the mower;

[0020] S3: Mower position confirmation, real-time environment detection is performed through laser radar, camera and GPS, and data is fed back to the central controller, real-time map and stored map matching is completed by the central controller, so as to determine the real-time position of the mower, and the STM32F767 controller is used to control the direct current brushless servo motor X and the direct current brushless servo motor Y to move, initial position calibration is completed, the mower enters the autonomous mowing mode, and the mowing mode is performed according to the preset mowing strategy;

[0021] S4: Mowing, after entering the mowing mode, the central controller sends a mowing instruction to the PAC5532 controller, the PAC5532 controller receives the mowing instruction and sends it to the direct current brushless driver Y, and drives the direct current brushless motor Z to mow.

[0022] Further, in the present application, the mower system also has a weed collection function:

[0023] When the mower mows, the weeds knocked down by the mower are collected by the grass collecting bag, and the sensor detects whether the grass collecting bag is full of weeds, if the collection is detected, the sensor returns a signal to the STM32F767 controller, the STM32F767 controller uploads a signal to the central controller, the central controller makes a judgment, sends a stop mowing command to the PAC5532 controller, and the PAC5532 controller drives the direct current brushless driver Y to stop the mowing motor from moving; 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 weeds, and then return to the mowing position to start the mowing motor again.

[0024] Further, in the present application, the mower system also has an automatic charging function, the voltage detection module is connected with the STM32F767 controller, when the STM32F767 controller detects that the voltage is low, the voltage low signal is uploaded to the central controller, the central controller makes a judgment, sends a stop mowing command to the PAC5532 controller, and the PAC5532 controller drives the direct current brushless driver Y to stop the mowing motor from moving;

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

[0026] Further, in the present application, the mower system also has a manual interactive interface:

[0027] The artificial interaction interface displays various motion states and mowing information of the mower by a display screen, and the artificial interaction interface can be used to control the mower to complete parameter setting, motion state recording and local mowing function.

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

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

[0030] The mower system of the present application can automatically construct a map, avoid obstacles, confirm the position of the mower and automatically mow without human intervention, thereby reducing labor costs and work intensity and meeting the requirements of rapid and efficient work.

[0031] The driving of the mower system of the present application is motor-driven, and the automatic charging function is provided, thereby meeting the power requirement and protecting the environment.

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

[0033] Figure 1 The figure is a framework diagram of the mower system of the present application. DETAILED DESCRIPTION

[0034] In order to facilitate the understanding of the present application, the present application will be described more fully below with reference to the accompanying drawings, which show several embodiments of the present application, but the present application can be realized in different forms and is not limited to the embodiments described herein, on the contrary, these embodiments are provided to make the disclosed content of the present application more thorough and comprehensive.

[0035] It should be noted that when an element is referred to as being "fixedly attached" to another element, it can be directly on the other element or there can be an intervening element, and when an element is referred to as being "connected" to another element, it can be directly connected to the other element or there can be an intervening element, and the terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0036] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description herein is for describing particular embodiments only and is not intended to be limiting of the application. The use herein of the terms "and / or" includes a set of one or more associated listed items.

[0037] Embodiments, please refer to the attached Figure 1 A two-wheel intelligent mower system, comprising: a power module, a central control system, an environment detection system, a two-wheel drive system, a mower drive system, a man-machine interaction system;

[0038] The power module comprises a power supply and a power conversion module, responsible for the power supply of the whole system;

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

[0040] The environment detection system comprises a laser radar, a camera, a collision avoidance rod and an ultrasonic sensor;

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

[0042] The mower drive system comprises a direct current brushless motor driver Y and a direct current brushless motor Z, the direct current brushless motor driver Y is connected to the direct current brushless motor Z, and the direct current brushless motor driver Y is matched with an acceleration and speed detection encoder;

[0043] The man-machine interaction system comprises a display screen, and the display screen is connected to the central controller through a data line.

[0044] Further, the central controller is an industrial computer, the ARM controller is an STM32F767 controller and a PAC5532 controller, the STM32F767 controller is connected to the direct current brushless driver X, the collision avoidance rod and the ultrasonic sensor, and the PAC5532 controller is connected to the direct current brushless driver Y;

[0045] It should be noted that in the present embodiment, the preferred central controller is a brand of 11 generation i71165G7 industrial computer, with a main frequency of 2.8GHz, four cores and 8 threads, a memory of 16G, a hard disk of 512G solid state, and a built-in WIFI. It supports power-on boot, network wake-up, dual-network and dual-serial ports. The closed metal shell cooling design is closed, dustproof, high-temperature resistant, corrosion resistant, and has strong anti-interference ability, and can meet the working conditions of robots in harsh environments, and can meet the working environment requirements of the patrol robot.

[0046] In addition, it should be noted that the preferred ARM controller is STM32F767, which adopts a high-performance ARM Cortex-M7 32-bit RISC core with a working frequency of up to 216MHz. The Cortex-M7 core has a single floating-point unit (SFPU) precision, supporting all single-precision data processing instructions and data types. It also implements a complete set of DSP instructions and a memory protection unit (MPU) to enhance application security. 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. STM32F767 can perfectly meet the performance requirements of the robot.

[0047] In addition, it should be noted that the preferred ARM controller is a high-performance PAC5532 microcontroller launched by Active-Semi Company. PAC5532 integrates an ARM Cortex-M4F 32-bit microcontroller core, with 128kB embedded Flash memory and 32kB data RAM, supporting a maximum clock frequency of up to 150MHz. In addition, it is also equipped with 12-bit ADC resolution and 29 I / O ports, suitable for applications that require 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 for motor drive stages, programmable overcurrent protection, integrated 160V DC / DC step-down controller, and can meet the requirements of the mower motor drive.

[0048] Further, the working method used by any one of the two-wheeled intelligent mowers described above comprises the following steps:

[0049] S1: map construction, before the mower mows the grass, it needs to construct a map, through manual remote control to move the mower to complete the walking in the mowing area, in the walking process, through the laser radar and the camera to detect the environment of the lawn area in real time, and return the detected data to the industrial computer, the industrial computer analyzes and processes the data to finally form the entire mowing environment map and store it; or according to the lawn map, the artificial directly imports the map into the central controller of the mower after scaling down in proportion, to complete the map construction of the working area of the mower;

[0050] S2: mower obstacle avoidance, the mower combines the entire mowing area environment map and navigation information, and completes the mowing pre-travel path planning according to the preset mowing strategy, and then returns the information through each sensor to complete the real-time positioning and obstacle avoidance of the mower;

[0051] S3: mower position confirmation, through the laser radar, camera and GPS to detect the environment in real time, and feed back the data to the central controller, and the central controller completes the real-time map and stored map matching to determine the real-time position of the mower, and controls the direct current brushless servo motor X and direct current brushless servo motor Y through the STM32F767 controller to move, to complete the initial position calibration, so that the mower enters the autonomous mowing mode and mows according to the preset mowing strategy;

[0052] S4: mower mowing, when entering the mowing mode, the central controller sends the mowing instruction to the PAC5532 controller, the PAC5532 controller receives the mowing instruction and sends it to the direct current brushless driver Y, and drives the direct current brushless motor Z to mow.

[0053] It should be noted that in the present embodiment, in step S2, when the 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 direct current brushless servo motor X and direct current brushless servo motor Y to complete the obstacle avoidance of the mower;

[0054] In step S4, the laser radar and the camera return the mowing information of the mower to the central controller in real time, and the central controller completes the evaluation of the mowing quality of the mower, and according to the evaluation standard, it is judged whether to continue mowing.

[0055] Further, in the present application, the mower system also has a weed collection function:

[0056] When the mower cuts the grass, the cut grass is collected by the grass collecting bag, and the sensor detects whether the grass collecting bag is full, if the collection is detected, the sensor returns a signal to the STM32F767 controller, the STM32F767 controller uploads the signal to the central controller, the central controller makes a judgment, sends a stop cutting command to the PAC5532 controller, and the PAC5532 controller drives the brushless direct current driver Y to stop the cutting motor movement; after the cutting motor stops, the central controller controls the STM32F767 controller to drive the walking motor, and the cutting motor is started again to cut the grass.

[0057] Further, in the present application, the mower system also has an automatic charging function, the voltage detection module is connected with the STM32F767 controller, when the STM32F767 controller detects that the voltage is low, the low voltage signal is uploaded to the central controller, the central controller makes a judgment, sends a stop cutting command to the PAC5532 controller, and the PAC5532 controller drives the brushless direct current driver Y to stop the cutting motor movement;

[0058] After the cutting motor stops, the central controller controls the STM32F767 controller to drive the walking motor, and the cutting motor is started again to cut the grass.

[0059] Further, in the present application, the mower system also has a manual interface:

[0060] The manual interface displays the various motion states and cutting information of the mower by the display screen, and the mower can be controlled by the manual interface to complete parameter setting, motion state recording and local cutting function.

[0061] Further, in the present application, after the mower completes the cutting task, the global video and local video of the cutting quality are recorded and stored, after the storage is completed, the mower returns to the standby area and sleeps, and waits for the next cutting command to wake up and cut the grass.

[0062] The above describes the present application in conjunction with the drawings, and it is obvious that the specific implementation of the present application is not limited by the above method, as long as the method concept and technical solution of the present application are used for such non-essential improvement, or the concept and technical solution of the present application are directly applied to other occasions without improvement, which are within the protection scope of the present application.

Claims

1. A working method used by a two-wheeled intelligent mower system, characterized in that, Comprise the following steps: S1: map building, before the mower mows the grass, the need for map building, through the way of artificial remote control to move the mower to complete the walking in the mowing area, in the walking process, through the laser radar and camera to detect the real-time lawn area environment, and the detected data is returned to the industrial computer, the industrial computer analyzes and processes the final whole mowing environment map, and stores it; or through artificial according to the lawn map to scale down directly into the mower central controller, complete the mower work area map building; S2: mower obstacle avoidance, the mower combines the whole mowing area environment map and navigation information, navigation information is to complete the mowing pre-drive path planning according to the preset mowing strategy, then through the return information of each sensor, complete the real-time positioning and obstacle avoidance of the mower; S3: mower position confirmation, through laser radar, camera and GPS real-time environment detection, and feedback the data to the central controller, the central controller completes the real-time map and stored map matching, so as to determine the real-time position of the mower, and through the STM32F767 controller to control the direct current brushless servo motor X and direct current brushless servo motor Y to move, complete the initial position calibration, make the mower enter the autonomous mowing mode, according to the preset mowing strategy to mow the mode; S4: mower mowing, when entering the mowing mode, the central controller sends the mowing instruction to the PAC5532 controller, the PAC5532 controller receives the mowing instruction and sends it to the direct current brushless motor Y, which drives the direct current brushless motor Z to mow the grass; The two-wheel intelligent mower system comprises a power module, a central control system, an environment detection system, a two-wheel drive system, a mowing drive system and a man-machine interaction system. The power module comprises a power supply and a power conversion module, which is responsible for the power supply of the whole system. The central control system comprises a central controller and two ARM controllers, the central controller and the two ARM controllers are connected with each other through data lines, and the central controller is connected with the laser radar, GPS and camera through data lines for data transmission. The environment detection system comprises a laser radar, a camera, an anti-collision rod and an ultrasonic sensor. The two-wheel drive system comprises a direct current brushless motor driver X, a direct current brushless motor X and a direct current brushless motor Y, the direct current brushless motor driver X is connected with the direct current brushless motor X and the direct current brushless motor Y respectively, and each direct current brushless motor driver X is matched with an acceleration and speed detection encoder. The mowing drive system comprises a direct current brushless motor driver Y and a direct current brushless motor Z, the direct current brushless motor driver Y is connected with the direct current brushless motor Z, and the direct current brushless motor driver Y is matched with an acceleration and speed detection encoder. The man-machine interaction system comprises a display screen, and the display screen is connected with the central controller through a data line.

2. A working method for a two-wheeled intelligent mower system according to claim 1, characterized in that, The central controller is an industrial computer, the ARM controller is an STM32F767 controller and a PAC5532 controller, wherein the STM32F767 controller is connected with a direct-current brushless driver X, an anti-collision rod and an ultrasonic sensor, and the PAC5532 controller is connected with a direct-current brushless driver Y.

3. A working method for a two-wheeled intelligent mower system according to claim 1, characterized in that, The mower system also has a weed collection function: When the mower is mowing, the weeds cut by the mower are collected through the grass collecting bag, and the sensor detects whether the grass collecting bag is full of weeds, if the collection is detected to be completed, the sensor returns a signal to the STM32F767 controller, the STM32F767 controller uploads the signal to the central controller, the central controller makes a judgment, sends a stop mowing command to the PAC5532 controller, and the PAC5532 controller drives the direct-current brushless driver Y to stop the movement of the mowing motor; after the mowing motor stops, the central controller controls the STM32F767 controller to drive the walking motor, and the mower travels to the weed collection area, automatically pours the weeds, and then returns to the mowing position to start the mowing motor again to mow.

4. A working method for a two-wheeled intelligent mower system according to claim 3, characterized in that, The mower system also has an automatic charging function, the voltage detection module is connected with the STM32F767 controller, when the STM32F767 controller detects that the voltage is low, the STM32F767 controller uploads a low voltage signal to the central controller, the central controller makes a judgment, sends a stop mowing command to the PAC5532 controller, and the PAC5532 controller drives the direct-current brushless driver Y to stop the movement of the mowing motor; After the mowing motor stops, the central controller controls the STM32F767 controller to drive the walking motor, and the mower travels to the automatic charging area to charge.

5. A working method for a two-wheeled intelligent mower system according to claim 1, characterized in that, The mower system also has a manual interaction interface: The manual interaction interface displays various movement states and mowing information of the mower through the display screen, and the manual interaction interface can be used to control the mower to complete parameter setting, movement state recording and local mowing function.

6. A working method for a two-wheeled intelligent mower system according to claim 1, characterized in that, After the mower completes the mowing task, the mower records and stores the global video and local video of the mowing quality, after the storage is completed, the mower returns to the standby area, sleeps, and waits for the next mowing command to wake up to mow.

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