Four-wheel drive unmanned mower system and working method

Abstract

The invention provides a four-wheel unmanned mower system. The four-wheel unmanned mower system comprises a power supply module, a central control system, an environment detection system, a four-wheel driving system, a mowing driving system and a man-machine interaction system, the power supply module comprises a power supply and a power supply conversion module and is responsible for supplying power to the whole system; the central control system comprises a central controller, an ARM controller and an FPGA controller, the central controller is connected with the ARM controller and the FPGA controller through data lines, and the central controller is connected with the laser radar, the GPS and the camera through data lines for data transmission. 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 four-wheel drive system to change the motion state of the mower, and therefore normal work of the mower is guaranteed.

Description

Technical Field

[0001] The present invention mainly relates to the technical field of lawn mower systems, and in particular to a four-wheel drive unmanned 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 four-wheel drive unmanned 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 four-wheel unmanned lawn mower system, comprising a power module, a central control system, an environmental detection system, a four-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, an ARM controller, and an FPGA controller. The central controller is connected to the ARM controller and the FPGA controller 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 four-wheel drive system includes a brushless DC motor driver, a brushless DC motor X, a brushless DC motor Y, a brushless DC motor A, and a brushless DC motor B. The brushless DC motor driver is connected to the brushless DC motor X, the brushless DC motor Y, the brushless DC motor A, and the brushless DC motor B 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, the central controller is an industrial computer, the ARM controller is a PAC5532 controller, and the PAC5532 controller is connected to the DC brushless driver Y; the FPGA controller is XC7A35T-2FGG484I, wherein the FPGA controller is connected to the DC brushless driver X, the anti-collision bar, and the ultrasonic sensor.

[0017] Furthermore, it also includes a manual interaction interface, which displays various movement states and mowing information of the lawn mower on a display screen, and the lawn mower can be controlled through the manual interaction interface to complete local mowing.

[0018] According to the above technical solution of a four-wheeled unmanned lawn mower system, a working method of the four-wheeled unmanned lawn mower system is also provided, comprising the following steps:

[0019] Step 1: Before the unmanned lawn mower starts mowing, a map needs to be built. The lawn mower is moved by manual remote control to complete the mowing area. During the walking process, the lawn area environment is detected in real time through lidar and camera, 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 manually scales down the lawn map and directly imports it into the central controller of the lawn mower to complete the construction of the lawn mower work area map;

[0020] Step 2: The unmanned lawn mower avoids obstacles. The lawn mower combines the environmental map and navigation information of the entire mowing area. The navigation information is to complete the pre-driving path planning of mowing according to the preset mowing strategy, and then complete the real-time positioning and obstacle avoidance of the lawn mower through the information returned by each sensor. When an obstacle is detected, the central controller sends an obstacle avoidance command to the FPGA controller, and the FPGA controller sends a control command to the driver. The driver drives the brushless DC servo motor X, brushless DC servo motor Y, brushless DC servo motor A, and brushless DC servo motor B to complete the obstacle avoidance and movement of the lawn mower.

[0021] Step 3: Confirm the position of the unmanned lawn mower. Use laser radar, camera and GPS to detect the environment in real time, and feed the data 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. Use the FPGA controller to control the DC brushless servo motor X, DC brushless servo motor Y, DC brushless servo motor A and DC brushless servo motor B to move, complete the initial position calibration, and put the lawn mower into autonomous mowing mode, and perform mowing mode according to the preset mowing strategy.

[0022] Step 4: The unmanned 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. The lawn mower mowing information is sent back to the central controller in real time through the lidar and camera. The central controller completes the evaluation of the mowing quality of the lawn mower and determines whether to continue mowing according to the evaluation criteria.

[0023] Furthermore, the lawn mower has a weed collection function. Since a large amount of weeds are generated during the mowing process, the lawn mower is provided with an automatic weed collection function. When the lawn mower is mowing, the weeds killed by the lawn mower are collected through the grass collecting bag, and the sensor is used to detect whether the grass collecting bag is fully collected. If the collection is detected to be completed, the sensor returns a signal to the FPGA controller, and the FPGA 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 movement of the mowing motor. After the mowing motor stops, the central controller controls the FPGA controller to drive the walking motor to move to the weed collection area, automatically dumps the weeds, and then returns to the mowing position to restart the mowing motor to mow.

[0024] Furthermore, it has an automatic charging function. The voltage detection module is connected to the FPGA controller. When the FPGA controller detects that the voltage is low, it uploads a low voltage 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 FPGA controller to drive the walking motor to the automatic charging area for charging.

[0025] Furthermore, after the lawn mower completes the mowing task, it records and stores global and local videos of mowing quality for later mowing information analysis. After 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.

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] The present invention determines the position of the lawn mower through an environmental detection system and performs autonomous navigation while detecting surrounding obstacles, and feeds back environmental information to a central control system for data analysis and processing. The central control system controls the four-wheel drive system to change the motion state of the lawn mower, thereby ensuring the normal operation of the lawn mower.

[0028] The present invention will be explained in detail below with reference to the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a system block diagram of the present invention. DETAILED DESCRIPTION

[0030] 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.

[0031] 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.

[0032] 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.

[0033] like Figure 1 As shown, a four-wheel unmanned lawn mower system is characterized by including a power module, a central control system, an environmental detection system, a four-wheel drive system, a lawn mowing drive system, and a human-computer interaction system.

[0034] The power module includes a power supply and a power conversion module, which is responsible for the power supply of the entire system. The preferred power supply is a lithium battery.

[0035] The central control system includes a central controller, an ARM controller, and an FPGA controller. The central controller is connected to the ARM controller and the FPGA controller through data lines. The central controller is connected to the laser radar, GPS, and camera through data lines for data transmission.

[0036] 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.

[0037] The environment detection system includes a laser radar, a camera, an anti-collision bar and an ultrasonic sensor.

[0038] The four-wheel drive system includes a brushless DC motor driver, a brushless DC motor X, a brushless DC motor Y, a brushless DC motor A, and a brushless DC motor B. The brushless DC motor driver is connected to the brushless DC motor X, the brushless DC motor Y, the brushless DC motor A, and the brushless DC motor B respectively, and each brushless DC motor is matched with an acceleration and speed detection encoder.

[0039] The mowing drive system comprises a brushless DC motor driver and a brushless DC motor Z. 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.

[0040] The human-computer interaction system comprises a display screen, and the display screen is connected to a central controller via a data line.

[0041] In a specific embodiment of the present invention, the ARM controller is a PAC5532 controller, which is connected to a DC brushless driver Y; the FPGA controller is an XC7A35T-2FGG484I, wherein the FPGA controller is connected to a DC brushless driver X, an anti-collision bar, and an ultrasonic sensor.

[0042] Furthermore, the preferred FPGA is XC7A35T-2FGG484I, which is a high-end FPGA chip of Xilinx, with the characteristics of high performance, low power consumption, high reliability, etc. It has 33280 logic units and 400kbit distributed RAM, and is equipped with 4 high-speed transceivers, supports high-speed data transmission, and supports a variety of different integrated circuit interfaces, including SPI, UART, I2C, etc., which can easily communicate with other integrated circuits. It adopts Xilinx's 32nm process, has extremely high logic unit density and memory capacity, and supports high-speed serial interface and parallel interface, which can realize high-speed data processing and transmission. With Power Save technology, the power consumption of FPGA can be dynamically managed, so that the power consumption is automatically reduced when high performance is not required, thereby extending the service life and stability of FPGA. Reliability design technology is adopted, including radiation protection, anti-static, high temperature resistance and other characteristics, to ensure the stability and reliability of FPGA in harsh environments.

[0043] Furthermore, the preferred ARM is a high-performance PAC5532 microcontroller launched by Active-Semi. PAC5532 integrates an 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.

[0044] A working method of a four-wheel unmanned lawn mower system, the specific steps are:

[0045] A. Before the unmanned 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 can be 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;

[0046] B. Obstacle avoidance for unmanned lawn mowers. The lawn mower combines the environmental map and navigation information of the entire mowing area. The navigation information is to complete the pre-driving path planning for mowing according to the preset mowing strategy, and then complete the real-time positioning and obstacle avoidance of the lawn mower through the information returned by each sensor. When an obstacle is detected, the central controller sends an obstacle avoidance command to the FPGA controller, and the FPGA controller sends a control command to the driver. The driver drives the DC brushless servo motor X and the DC brushless servo motor Y to complete the obstacle avoidance of the lawn mower.

[0047] C. Confirm the position of the unmanned lawn mower. Real-time environmental detection is performed 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 FPGA controller controls the DC brushless servo motor X and DC brushless servo motor Y, DC brushless servo motor A, and DC brushless servo motor B to move, complete the initial position calibration, and put the lawn mower into autonomous mowing mode, and perform mowing mode according to the preset mowing strategy.

[0048] D. The unmanned lawn mower mows the lawn. When the mowing mode is entered, the central controller sends the 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 lawn. The mowing information of the lawn mower is sent back to the central controller in real time through the laser radar and camera. The central controller completes the evaluation of the mowing quality of the lawn mower and determines whether to continue mowing according to the evaluation criteria.

[0049] Furthermore, the mower has a weed collection function. Since a large amount of weeds are generated during the mowing process, the mower is provided with an automatic weed collection function. When the mower is mowing, the weeds knocked down by the mower are collected through the grass collection bag, and the sensor is used to detect whether the grass collection bag is full of weeds. If the collection is detected to be completed, the sensor returns a signal to the FPGA controller, and the FPGA 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 FPGA 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 to mow.

[0050] Furthermore, the lawn mower has an automatic charging function, and the voltage detection module is connected to the FPGA controller. When the FPGA 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, and the PAC5532 controller drives the DC brushless driver Y to stop the mowing motor. After the mowing motor stops, the central controller controls the FPGA controller to drive the walking motor to the automatic charging area for charging.

[0051] Furthermore, the lawn mower has a manual interaction interface, which displays various motion states and mowing information of the lawn mower on a display screen, and the lawn mower can be controlled through the manual interaction interface to complete local mowing.

[0052] Furthermore, after the mower completes the mowing task, it records and stores the global and local videos of the mowing quality for later mowing information analysis. After storage is completed, the mower returns to the waiting area and goes into sleep mode, waiting for the next mowing command to wake up and start mowing.

[0053] 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 four-wheel unmanned lawn mower system, characterized in that: Including power module, central control system, environmental detection system, four-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, an ARM controller, and an FPGA controller. The central controller is connected to the ARM controller and the FPGA controller 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 four-wheel drive system includes a brushless DC motor driver, a brushless DC motor X, a brushless DC motor Y, a brushless DC motor A, and a brushless DC motor B. The brushless DC motor driver is connected to the brushless DC motor X, the brushless DC motor Y, the brushless DC motor A, and the brushless DC motor B 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 four-wheel unmanned lawn mower system according to claim 1, characterized in that: The central controller is an industrial computer, the ARM controller is a PAC5532 controller, and the PAC5532 controller is connected to the DC brushless driver Y; the FPGA controller is an XC7A35T-2FGG484I, wherein the FPGA controller is connected to the DC brushless driver X, the anti-collision bar, and the ultrasonic sensor.

3. A method for operating a four-wheel unmanned lawn mower system, characterized in that: It also includes a manual interaction interface, which displays various motion states and mowing information of the lawn mower on a display screen, and the lawn mower can be controlled through the manual interaction interface to complete local mowing.

4. A method for operating a four-wheel unmanned lawn mower system, characterized in that: The specific steps are: Step 1: Before the unmanned lawn mower starts mowing, a map needs to be built. The lawn mower is moved by manual remote control to complete the mowing area. During the walking process, the lawn area environment is detected in real time through lidar and camera, 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 manually scales down the lawn map and directly imports it into the central controller of the lawn mower to complete the construction of the lawn mower work area map; Step 2: The unmanned lawn mower avoids obstacles. The lawn mower combines the environmental map and navigation information of the entire mowing area. The navigation information is to complete the pre-driving path planning of mowing according to the preset mowing strategy, and then complete the real-time positioning and obstacle avoidance of the lawn mower through the information returned by each sensor. When an obstacle is detected, the central controller sends an obstacle avoidance command to the FPGA controller, and the FPGA controller sends a control command to the driver. The driver drives the brushless DC servo motor X, brushless DC servo motor Y, brushless DC servo motor A, and brushless DC servo motor B to complete the obstacle avoidance and movement of the lawn mower. Step 3: Confirm the position of the unmanned lawn mower. Use laser radar, camera and GPS to detect the environment in real time, and feed the data 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. Use the FPGA controller to control the DC brushless servo motor X, DC brushless servo motor Y, DC brushless servo motor A and DC brushless servo motor B to move, complete the initial position calibration, and put the lawn mower into autonomous mowing mode, and perform mowing mode according to the preset mowing strategy. Step 4: The unmanned 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. The lawn mower mowing information is sent back to the central controller in real time through the lidar and camera. The central controller completes the evaluation of the mowing quality of the lawn mower and determines whether to continue mowing according to the evaluation criteria.

5. A method for operating a four-wheel unmanned lawn mower system, characterized in that: 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 completed, the sensor returns a signal to the FPGA controller, and the FPGA controller uploads the 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 FPGA 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 to mow.

6. A method for operating a four-wheeled unmanned lawn mower system, characterized in that: The voltage detection module is connected to the FPGA controller. When the FPGA controller detects that the voltage is low, it uploads a low voltage 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 FPGA controller to drive the walking motor to the automatic charging area for charging.

7. A method for operating a four-wheeled unmanned lawn mower system, characterized in that: After the lawn mower completes the mowing task, it records and stores the global and local videos of the mowing quality for later mowing information analysis. After 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.

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