Intelligent mower with liftable rear wheels and lifting method thereof
The intelligent grass cutting machine with adjustable rear wheels and a visual sensing system addresses the issue of grass surface damage by lowering the rear wheels on steep slopes, enhancing climbing ability and minimizing damage, thus enabling efficient cutting operations.
Patent Information
- Application Number
- CN202411987371.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-31
- Publication Date
- 2025-03-18
AI Technical Summary
Existing four-wheeled grass cutting machines damage grass surfaces, especially when navigating uneven or sloped areas, as they often cause excessive wear and tear, particularly during turns.
An intelligent grass cutting machine with adjustable rear wheels, equipped with a visual sensing system and a mechanism using a screw rod and gear system to lift or lower the rear wheels based on terrain analysis, preventing excessive damage by adjusting to slope angles.
The intelligent system effectively reduces grass surface damage by lowering the rear wheels on steep slopes, enhancing climbing ability and minimizing grass wear, while allowing for efficient cutting operations without causing significant harm to the lawn.
Smart Images
Figure CN119631699A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of lawn mowers, and in particular to an intelligent lawn mower with liftable rear wheels and a lifting method thereof. Background Art
[0002] The uneven ground of lawns in urban green belts, farms and courtyards, especially with large slope angles, hinders the normal mowing work of mowing equipment. Four-wheeled mowing robots are currently used on the market to solve this problem, but in most cases the four wheels will damage the lawn due to the flat lawn, especially turning, which will cause serious damage to the grass. Therefore, we propose an intelligent lawn mower with liftable rear wheels and a lifting method thereof to solve the above problem. Summary of the invention
[0003] Based on this, it is necessary to provide an intelligent lawn mower that can reduce excessive damage to the grass.
[0004] An intelligent lawn mower with a liftable rear wheel comprises a shell, a front wheel module and a rear wheel module are respectively arranged in the front and rear of the shell, and a visual sensor is also installed on the upper end of the shell;
[0005] The rear wheel module comprises a screw mechanism and a rear wheel body, on which a fulcrum link a and a fulcrum link b are rotatably mounted respectively, the other end of the fulcrum link b is fixedly plugged with a connecting shaft, the connecting shaft is rotatably mounted inside the housing, the other end of the fulcrum link a is rotatably connected to the execution end of the screw mechanism, and the execution end of the screw mechanism performs linear motion;
[0006] The rear wheel module also includes a gear set, and the gear set is used to drive the screw mechanism;
[0007] When the lead screw mechanism moves at the execution end, the fulcrum link a is driven to rotate, so that the rear wheel body rotatably connected to the fulcrum link a is lifted or lowered.
[0008] Furthermore, the screw mechanism includes a screw seat, in which a screw body is rotatably arranged, and a nut seat is movably sleeved on the outside of the screw body. The nut seat is the execution end of the screw mechanism, and the fulcrum connecting rod a is rotatably arranged on the nut seat.
[0009] Furthermore, a connecting seat is fixedly mounted on the inner wall of the shell, and the connecting shaft is movably sleeved on the connecting seat.
[0010] Furthermore, the rear wheel body is also provided with an electric motor for driving the rear wheel body.
[0011] Furthermore, the gear set includes a motor, the output shaft of the motor is fixedly connected to a driving gear, transmission gears are symmetrically meshed on both sides of the driving gear, and a driven gear is meshed on the side of the transmission gear away from the driving gear. The driven gear is fixedly sleeved on the end of the screw body and is used to drive the screw body to rotate. The visual sensor is also coupled to the motor and the electric motor, and is used to control the forward and reverse rotation of the motor and the speed of the motor.
[0012] Furthermore, the intelligent lawn mower also includes a rear vehicle module, and a connecting socket is fixedly installed at the front end of the rear vehicle module for being plugged into the housing.
[0013] Furthermore, the rear vehicle module is directly connected to the housing.
[0014] A lifting method for an intelligent lawn mower having liftable rear wheels, comprising the following steps;
[0015] S1, firstly, take photos of the physical environment by using a multi-eye or monocular camera to obtain a multi-eye or monocular photo;
[0016] S2, putting the multi-view photos into Image Encoder, and performing independent feature extraction on each photo through Image Encoder;
[0017] S3, the extracted features are output to the network architecture for further processing and model training and optimization;
[0018] S4, the physical scene captured in front is transmitted to the model through the visual sensor, and by comparing with the model, it is determined whether the current slope requires the rear wheel module to be lowered and whether the motor needs to be decelerated.
[0019] Furthermore, the Image Encoder module extracts and fuses features from multiple photos, outputs the features as encoded feature vectors or feature maps, and inputs them into the network architecture.
[0020] Furthermore, the model training also includes labeled data, and the labeled data is manually labeled data or data generated by an automatic labeling system.
[0021] Technical effects and advantages of the present invention:
[0022] 1. In the present invention, through the model stored in the lawn mower, the visual sensor is used to detect the physical scene in front, and transmit the scene to the model for comparison, so as to control the forward and reverse rotation of the motor, so that the rear wheel module is lowered in areas with large slopes to avoid excessive damage to the lawn.
[0023] 2. In the present invention, through modular assembly, the rear vehicle module can be installed on the housing through the connecting socket, which is convenient for disassembly or installation of the rear wheel module. BRIEF DESCRIPTION OF THE DRAWINGS
[0024] Figure 1 The figure is a three-dimensional schematic diagram of an intelligent lawn mower with liftable rear wheels according to an embodiment.
[0025] Figure 2 Schematic diagram of the internal structure of the rear vehicle module.
[0026] Figure 3 This is a schematic diagram of the first overall structure of the rear wheel module.
[0027] Figure 4 Schematic diagram of the second overall structure of the rear wheel module.
[0028] Figure 5 This is an enlarged structural diagram of the gear set.
[0029] Figure 6 Schematic diagram of the internal structure of the rear vehicle module.
[0030] In the figure: 10, housing; 11, connecting seat; 12, rear vehicle module; 20, visual sensor; 30, rear wheel module; 301, screw seat; 302, gear set; 3021, motor; 3022, driving gear; 3023, transmission gear; 3024, driven gear; 303, nut seat; 304, screw body; 305, rear wheel body; 306, fulcrum link a; 307, fulcrum link b; 308, connecting shaft; 309, motor; 40, front wheel module. DETAILED DESCRIPTION
[0031] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. The preferred embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thoroughly understood.
[0032] It should be noted that when an element is referred to as being "fixed to" 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 herein are for illustrative purposes only and do not represent the only implementation method.
[0033] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein 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.
[0034] Example:
[0035] like Figure 1-5 As shown, an intelligent lawn mower with a liftable rear wheel and a lifting method thereof include a housing 10, a front wheel module 40 and a rear wheel module 30 are installed in the housing 10, and a visual sensor 20 is also installed along the upper end of the housing 10 for monitoring the roughness of the road ahead;
[0036] Among them, Figure 3-4 As shown, the rear wheel module 30 includes a screw seat 301 fixedly installed in the housing 10, a screw body 304 is also installed along the length direction of the screw seat 301, and a nut seat 303 is sleeved on the outer side of the screw body 304. The nut seat 303 can perform linear motion along the screw body 304. In addition, the lower part of the nut seat 303 is rotatably connected to a fulcrum connecting rod a306, and the lower end of the fulcrum connecting rod a306 is connected to the rear wheel body 305. The rear wheel body 305 and the fulcrum connecting rod a306 can rotate with each other, as shown in FIG. Figure 4 The rear wheel module 30 shown is in a reset state, and as shown in FIG. Figure 3 The rear wheel module 30 is in the raised state, through Figure 3 As shown, the rear wheel body 305 is equipped with an electric motor 309 for driving the rear wheel body 305 to rotate for moving the lawn mower as a whole, and a fulcrum link b307 is also installed corresponding to the rotation of the rear wheel body 305, and a connecting shaft 308 is fixedly inserted through the upper end of the fulcrum link b307, and the connecting shaft 308 is as shown in FIG. Figure 2 As shown, it is installed in the housing 10, and a connecting seat 11 is fixedly arranged on the inner wall of the housing 10 corresponding to the connecting shaft 308, and the connecting shaft 308 is rotatably arranged on the connecting seat 11;
[0037] The screw seat 301, the screw body 304 and the nut seat 303 constitute a screw mechanism;
[0038] In addition, if Figure 3 As shown, the rear wheel module 30 is also equipped with a gear set 302 as a power source to drive the lead screw body 304 to rotate;
[0039] like Figure 5As shown, the gear set 302 includes a motor 3021, and the end of the output shaft of the motor 3021 is also fixedly sleeved with a driving gear 3022, and the two sides of the driving gear 3022 are symmetrically meshed with transmission gears 3023, and the side of the transmission gear 3023 away from the driving gear 3022 is meshed with a driven gear 3024, and the driven gear 3024 is fixedly sleeved on the end of the screw body 304;
[0040] The motor 3021 drives the driving gear 3022 to rotate, and the transmission gear 3023 transmits torque to the driven gear 3024, driving the screw body 304 to rotate, so that the nut seat 303 set on the screw body 304 moves linearly to the position as shown in FIG. Figure 3 At the position shown, the fulcrum link a306 rotatably connected to the nut seat 303 rotates upward, and at the same time, the fulcrum link b307 connected to the rear wheel body 305 also rotates upward, completing the process of raising the rear wheel module 30;
[0041] The above action is that after the visual sensor 20 recognizes the road ahead, the on-board MCU sends a corresponding instruction to the motor 3021, that is, controls the forward and reverse rotation of the motor 3021 to realize the lifting of the rear wheel module 30. For relatively rugged and sloping grass, the rear wheel can be intelligently lowered to improve the climbing ability in the short term, complete the work of mowing, etc., so as to avoid excessive damage to the grass.
[0042] In addition, the speed of the motor 309 can also be controlled;
[0043] In addition, if Figure 6 As shown, the device can also be separately arranged. The smart lawn mower also includes a rear wheel module 12. One end of the module 12 is also provided with a connection socket 121. The module can be installed on the housing 10 through the connection socket 121 to achieve modular assembly, which is convenient for later disassembly of the rear wheel module 30.
[0044] A lifting method for an intelligent lawn mower with liftable rear wheels, comprising the above-mentioned visual sensor 20 for detecting the terrain ahead, by transmitting the image captured by the visual sensor 20 to a trained vehicle system, the vehicle system determines the slope of the terrain ahead by comparison, and decides whether to issue a start command to the motor 3021. If the slope ahead is too large, the vehicle system issues a command, the motor 3021 is started, and the rear wheel module 30 is lowered, and at the same time, the rotation speed of the motor 309 can be slowed down to prevent excessive damage to the lawn;
[0045] The following is a detailed description of how to train the vehicle system
[0046] S1, firstly, take photos of the physical environment through a multi-eye camera to obtain multi-eye photos;
[0047] S2, put the multi-view photos into the Image Encoder, and use the Image Encoder to extract independent features for each photo. It converts the original pixel data into a more representative feature map through a series of operations such as convolutional layers and pooling layers. For example, for each photo, it may identify visual features such as edges, textures, and shapes in the scene, and then further fuse the features extracted from different perspectives, such as weighted averaging the features of corresponding positions under different perspectives, so as to obtain a more comprehensive and accurate feature representation that describes the scene. After feature extraction and fusion, the Image Encoder will output an encoded feature vector or feature map;
[0048] S3, the output can be used for further processing by the subsequent network architecture;
[0049] The data processed by the Image Encoder enters the network architecture. The network structure can be a Transformer architecture or other architectures that can recognize the data processed by the Image Encoder. The Transformer architecture uses its self-attention mechanism and the advantages of parallel computing to process these data. The Transformer architecture can analyze many key elements such as spatial relationships in the data. For example, in the scene understanding task, the Transformer architecture can determine what objects are in the scene, what the slope is in the physical environment, etc. In addition, labeled data is required to participate in model training. The labeled data can be manually labeled object categories, location information, or data generated by an automated labeling system. These labeled data are used together with the feature data processed by the Transformer architecture to train the model;
[0050] For example, in the target detection task, the training goal is to enable the model to accurately predict the slope size in the physical scene (the slope size determines the working state of the rear wheel module 30 and the motor 309), by continuously comparing the model prediction results with the labeled data, calculating the loss function, and adjusting the model parameters according to the loss function to optimize the training model;
[0051] As new data is continuously collected through multi-cameras, the whole process is repeated. Each cycle uses new data to optimize the model, including updating the labeled data (automatic labeling can play a role), handling new special cases, and using the Transformer architecture to better mine the information in the data. Through this continuous cycle, the performance of the model is continuously improved in the data closed loop, thus obtaining a trained model;
[0052] S4, the photo taken by the visual sensor 20 is transmitted to the model by the vehicle system and compared with the data in the model. If the slope ahead is greater than a certain threshold of the model, the system should issue a start command to the motor 3021. If the slope ahead is too large, the vehicle system will issue a command to start the motor 3021 to lower the rear wheel module 30, and at the same time, the speed of the motor 309 can be slowed down, etc.;
[0053] Through the above feedback data, the method can also control the movement of the motor 309 of the lawn mower in combination with the rear wheel module 30 to perform intelligent climbing.
[0054] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.
[0055] The above-mentioned embodiments only express several embodiments of the present invention, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be based on the attached claims.
Claims
1. An intelligent lawn mower with liftable rear wheels, characterized in that: It comprises a shell, wherein a front wheel module and a rear wheel module are respectively arranged in the front and rear of the shell, and a visual sensor is also installed at the upper end of the shell; The rear wheel module comprises a screw mechanism and a rear wheel body, on which a fulcrum link a and a fulcrum link b are rotatably mounted respectively, the other end of the fulcrum link b is fixedly plugged with a connecting shaft, the connecting shaft is rotatably mounted inside the housing, the other end of the fulcrum link a is rotatably connected to the execution end of the screw mechanism, and the execution end of the screw mechanism performs linear motion; The rear wheel module also includes a gear set, and the gear set is used to drive the screw mechanism; When the lead screw mechanism moves at the execution end, the fulcrum link a is driven to rotate, so that the rear wheel body rotatably connected to the fulcrum link a is lifted or lowered.
2. The intelligent lawn mower with liftable rear wheels according to claim 1, characterized in that: The screw mechanism includes a screw seat, in which a screw body is rotatably arranged, and a nut seat is movably sleeved on the outer side of the screw body. The nut seat is the execution end of the screw mechanism, and the fulcrum connecting rod a is rotatably arranged on the nut seat.
3. The intelligent lawn mower with liftable rear wheels according to claim 1, characterized in that: A connecting seat is fixedly mounted on the inner wall of the shell, and the connecting shaft is movably sleeved on the connecting seat.
4. The intelligent lawn mower with liftable rear wheels according to claim 2, characterized in that: The rear wheel body is also provided with an electric motor for driving the rear wheel body.
5. The intelligent lawn mower with liftable rear wheels according to claim 4, characterized in that: The gear set includes a motor, the output shaft of the motor is fixedly connected to a driving gear, transmission gears are symmetrically meshed on both sides of the driving gear, and a driven gear is meshed on the side of the transmission gear away from the driving gear. The driven gear is fixedly sleeved on the end of the screw body and is used to drive the screw body to rotate. The visual sensor is also coupled to the motor and the electric motor, and is used to control the forward and reverse rotation of the motor and the speed of the motor.
6. The intelligent lawn mower with liftable rear wheels according to claim 1, characterized in that: The intelligent lawn mower further comprises a rear vehicle module, and a connection socket is fixedly mounted at the front end of the rear vehicle module for being plugged into the housing.
7. The intelligent lawn mower with liftable rear wheels according to claim 1, characterized in that: The rear vehicle module is directly connected to the shell.
8. A lifting method for an intelligent lawn mower with liftable rear wheels according to any one of claims 1 to 7, characterized in that: The steps include: S1, firstly, take photos of the physical environment by using a multi-eye or monocular camera to obtain a multi-eye or monocular photo; S2, putting the multi-view photos into Image Encoder, and performing independent feature extraction on each photo through Image Encoder; S3, the extracted features are output to the network architecture for further processing and model training and optimization; S4, the physical scene captured in front is transmitted to the model through the visual sensor, and by comparing with the model, it is determined whether the current slope requires the rear wheel module to be lowered and whether the motor needs to be decelerated.
9. The lifting method for an intelligent lawn mower with liftable rear wheels according to claim 8, characterized in that: The Image Encoder module extracts and fuses features from multiple photos, outputs the features as encoded feature vectors or feature maps, and inputs them into the network architecture.
10. The lifting method for an intelligent lawn mower with liftable rear wheels according to claim 7, characterized in that: The model training also includes labeled data, which is manually labeled data or data generated by an automated labeling system.