Intelligent mowing device and mowing method based on rotation speed adjustment

Abstract

The invention discloses an intelligent mowing device based on rotation speed adjustment, the device comprises a chassis as a main body, the chassis comprises a base and a shell, the shell is arranged on the base, and a through cavity is formed between the base and the shell; the cutterhead mechanism is arranged in the through cavity of the chassis and is provided with a plurality of blades for mowing; one end of the lifting mechanism is fixedly connected with one end of the cutter head mechanism; and the lifting mechanism is arranged in the chassis and is used for controlling the lifting of the cutter head mechanism. By arranging the lifting mechanism, the vertical lifting height of the blade can be controlled so as to adaptively change the mowing height of the blade, and further, by arranging a torsional spring and a driving motor, the rotating speed of the cutterhead mechanism is changed through the driving motor, so that the blade overcomes the torsional force of the torsional spring so as to expand; when the intelligent mowing method is applied to the path planning algorithm, the loss of the blade can be reduced on the basis of not changing the original path algorithm.

Description

Technical Field

[0001] The invention belongs to the technical field of mowing, and in particular relates to an intelligent mowing device and a mowing method based on rotation speed adjustment. Background Art

[0002] With the development of intelligent equipment in various industries, gardening operations are gradually moving towards automation, and the common lawn mowers in the equipment industry have gradually evolved from manually operated manual lawn mowers to intelligent lawn mowers (mowing robots) that can automatically mow. However, the development of intelligent lawn mower robots in my country is still in the development stage, and the technology of intelligent lawn mower robots is not perfect.

[0003] Although the mowing device in the prior art can automatically operate on the grassland in a specified area through a path planning algorithm, the expansion structure of the blade is not adaptively adjusted under the boundary conditions of the specified area, resulting in frequent blade breakage, which affects the safety of mowing. Summary of the invention

[0004] In view of the technical problems in the prior art, the present invention provides an intelligent mowing device based on speed adjustment, the device comprising: The wheel base as the main body comprises a base and a shell, wherein the shell is arranged on the base, and a through cavity is formed between the base and the shell; A cutter disc mechanism is arranged in the through cavity of the wheel disc and is provided with a plurality of blades for mowing; A lifting mechanism has one end fixedly connected to one end of the cutter disc mechanism; the lifting mechanism is arranged in the wheel disc and is used to control the lifting and lowering of the cutter disc mechanism.

[0005] Furthermore, the undercarriage further comprises: A protective shell is arranged at the lower part of the base and is arranged around the periphery of the cutter disc mechanism at intervals to prevent debris from splashing; A driving motor is fixed on the rear end of the base; A rechargeable battery pack, fixedly mounted at the rear end of the base, for driving the drive motor; A camera, fixed at the front end of the base, for acquiring images on the forward route; The tracking light identifies the path by emitting infrared rays and detecting the reflected light. When the intensity of the detected light changes, the sensor generates different level signals, which are used to control the movement of the car to make it travel along the predetermined path. A laser radar, embedded in the base, is used to obtain distance information of obstacles in order to plan a path algorithm; An ultrasonic sensor, embedded in the base, for obtaining distance information of obstacles; A plurality of universal wheels, arranged on the base and drivably connected to the drive motor; A control circuit board is connected to the drive motor, camera, tracking light, laser radar, ultrasonic sensor and universal wheel signals and controls the drive motor, camera, tracking light, laser radar, ultrasonic sensor and universal wheel through a preset path planning algorithm, and is embedded in the base.

[0006] Furthermore, the cutter disc mechanism comprises: The upper end cover of the cutter disc has one end rotatably fixedly connected to one end of the lifting mechanism; A plurality of blades, one end surface of which is respectively fixedly connected to the other end surface of the upper end cover of the blade disc; A lower end cover of the cutter disc, one end of which is fixedly connected to the other end surfaces of the plurality of blades; A plurality of torsion springs are fixed through holes in the upper end cover of the cutter disc and positioning pins on the lower end cover of the cutter disc.

[0007] Furthermore, the blade is fixedly connected to the upper end cover of the cutter disc and the lower end cover of the cutter disc respectively through a fixing device; The fixing means include screws and bolts.

[0008] Furthermore, the lifting mechanism comprises: A lifting platform, the lower end of which is fixed to one end of the cutter disc mechanism; A motor sleeve, one end of which is butted against the other end of the lifting platform and is provided with a cavity; A motor, disposed in the cavity of the motor sleeve, for controlling the rotation of the cutter disc mechanism; A screw cover is arranged on the upper end surface of the lifting platform; A bearing, fixed on the screw cover; A screw rod, the upper end of which is fixed on the lower end of the bearing; The screw rod fixing base frame has an upper end fixedly connected to the lower end of the screw rod; A lifting guide rail base is provided with the screw rod fixing base frame, and the lower end of the base is fixed on the vehicle disc body; A bevel gear set meshingly connected with the screw rod and used to control the lifting and lowering of the screw rod; The stepper motor can be connected with the bevel gear set to drive The stepper motor fixing bracket is fixedly provided with the stepper motor.

[0009] An intelligent mowing method based on speed adjustment, characterized in that it is used for the above-mentioned intelligent mowing device based on speed adjustment, comprising the following steps: Step S1: Setting the mowing area; Step S2: using a camera and / or a tracking light and / or a laser radar and / or an ultrasonic sensor to adapt a planning path algorithm of the intelligent mowing device; Step S3: In step S2, when the intelligent mowing device passes through the boundary area of ​​the mowing area, the power of the driving motor is reduced to reduce the rotation speed of the blade, thereby controlling the expansion angle of the blade to prevent the blade from colliding with the building in the boundary area.

[0010] The positive and progressive effects of the present invention are: The present invention can control the up and down lifting height of the blade by setting a lifting mechanism to adaptively change the mowing height of the blade. Furthermore, by setting a torsion spring and a driving motor, the rotation speed of the cutter disc mechanism is changed by the driving motor so that the blade overcomes the torsion force of the torsion spring to relax. When the intelligent mowing method is applied to the path planning algorithm, the blade loss can be reduced without changing the original path algorithm. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a schematic diagram of the three-dimensional structure of an intelligent lawn mowing robot according to an embodiment of the present application; Figure 2 yes Figure 1 The cross-sectional structure diagram of the intelligent lawn mowing robot shown; Figure 3 This is a schematic diagram of the internal structure of an intelligent lawn mowing robot according to an embodiment of the present application; Figure 4 This is a schematic diagram of the main working structure of an implementation method of the present application; Figure 5 This is a schematic diagram of the assembly structure of a cutter disc mechanism according to an embodiment of the present application; Figure 6 It is a schematic diagram of the assembly structure of a lifting mechanism according to an embodiment of the present application. DETAILED DESCRIPTION

[0012] The following describes the embodiments of the present invention through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention.

[0013] Reference Figure 1 , Figure 2 and Figure 4 , an intelligent mowing device based on speed adjustment, the device comprising: The wheel base 10 as a main body includes a base 1001 and a shell 1002. The shell 1002 is arranged on the base 1001. A through cavity is formed between the base 1001 and the shell 1002. The cutter disc mechanism 20 is arranged in the through cavity of the wheel disc 10 and is provided with a plurality of blades 2005 for mowing; The lifting mechanism 30 has one end fixedly connected to one end of the cutter disc mechanism 20 ; it is disposed in the vehicle disc 10 and is used to control the lifting and lowering of the cutter disc mechanism 20 .

[0014] Further, see Figure 3 , the vehicle chassis 10 further comprises: A protective shell 1003 is provided at the lower part of the base 1001 and is arranged around the blade disc mechanism 20 at intervals to prevent debris from splashing; A driving motor 1004 is fixedly mounted on the rear end of the base 1001; A rechargeable battery pack 1005 is fixed at the rear end of the base 1001 and is used to drive the drive motor 1004; A camera 1006 is fixedly mounted on the front end of the base 1001 and is used to obtain images on the route; The tracking light 1007 identifies the path by emitting infrared rays and detecting the reflected light. When the intensity of the detected light changes, the sensor generates different level signals, which are used to control the movement of the car so that it moves along the predetermined path. A laser radar 1008, embedded on the base 1001, is used to obtain distance information of obstacles to plan a path algorithm; An ultrasonic sensor 1009, embedded in the base 1001, is used to obtain distance information of obstacles; A plurality of universal wheels 1011, disposed on the base 1001, and drivably connected to the drive motor 1004; The control circuit board 1010 is connected to the drive motor, camera, tracking light, laser radar, ultrasonic sensor and universal wheel signals and controls the drive motor, camera, tracking light, laser radar, ultrasonic sensor and universal wheel through a preset path planning algorithm, and is embedded in the base.

[0015] Further, see Figure 5 , the cutter disc mechanism 20 comprises: The upper end cover 2003 of the cutter head is rotatably fixed to one end of the lifting mechanism 30 at one end; A plurality of blades 2005, one end surface of which is fixedly connected to the other end surface of the upper end cover 2003 of the blade disc; The lower end cover 2006 of the cutter head has one end fixedly connected to the other end surface of the plurality of blades 2005; A plurality of torsion springs 2004 are fixed through holes in the upper end cover of the cutter disc and positioning pins in the lower end cover of the cutter disc.

[0016] Specifically, in one example, the blade 2005 is fixed and positioned by the positioning pin and the limiting boss of the lower end cover 2006 of the blade disc. When the blade disc mechanism rotates at a high speed, the blade 2005 will be unfolded due to inertia and compress the torsion spring 2004 until it is fixed by the limiting boss, and the blade is fully unfolded. When the blade disc mechanism stops rotating, the blade 2005 will be compressed by the torsion spring 2004 and return to its original position to realize the retracting function of the blade.

[0017] Furthermore, the blade is fixedly connected to the upper end cover 2003 and the lower end cover 2006 of the blade disc respectively through a fixing device; The fixing device includes a screw 2001 and a bolt 2002 .

[0018] Further, see Figure 6 , the lifting mechanism 30 comprises: A lifting platform 3001, the lower end of which is fixed to one end of the cutter disc mechanism 20; The motor sleeve 3003 has one end connected to the other end of the lifting platform 3001 and is provided with a cavity; The motor 3002 is disposed in the cavity of the motor sleeve 3003 and is used to control the rotation of the cutter head mechanism 20; The screw cover 3004 is provided on the upper end surface of the lifting platform 3001; The bearing 3005 is fixed on the screw rod 3006 and the cover 3004; The upper end of the screw rod 3006 is fixed to the lower end of the bearing 3005; The screw rod fixing base frame 3007 has an upper end fixedly connected to the lower end of the screw rod 3006; The lifting guide rail base 3008 is provided with the screw rod fixing base frame 3007, and the lower end is fixed on the main body of the vehicle plate 10; The bevel gear set 3009 is meshed with the screw rod 3006 and is used to control the lifting and lowering of the screw rod 3006; The stepper motor fixing bracket 3011 is drivably connected to the bevel gear set 3009 The stepper motor fixing bracket 3011 fixing bracket is fixed with the stepper motor fixing bracket 30113010.

[0019] An intelligent mowing method based on speed adjustment, characterized in that it is used for the above-mentioned intelligent mowing device based on speed adjustment, comprising the following steps: Step S1: Setting the mowing area; Step S2: adapting the planning path algorithm of the intelligent mowing device by setting the camera 1006 and / or the tracking light 1007 and / or the laser radar 1008 and / or the ultrasonic sensor 1009; Step S3: In step S2, when the intelligent mowing device passes through the boundary area of ​​the mowing area, it reduces the power of the driving motor 1004 and reduces the rotation speed of the blade, thereby controlling the expansion angle of the blade to prevent the blade from colliding with the building in the boundary area.

[0020] In general, the camera 1006 and / or the tracking light 1007 and / or the laser radar 1008 and / or the ultrasonic sensor 1009 provided in the present invention establish an intelligent setting unit, which can match most of the path planning algorithms in the prior art, and further utilize the rotation speed to control the relaxation angle of the blade to more conveniently match the path planning algorithm. When driving to the boundary conditions, the path needs to be changed to prevent blade collision. By running the rotation speed query in parallel, the set path planning algorithm can be quickly iterated and optimized while reducing the complexity of the code.

[0021] The present invention is described in detail above in conjunction with the embodiments of the accompanying drawings. A person skilled in the art can make various variations of the present invention according to the above description. Therefore, some details in the embodiments should not be construed as limiting the present invention, and the present invention shall be protected by the scope defined by the attached claims.

[0022] The present invention is described in detail above in conjunction with the embodiments of the accompanying drawings. A person skilled in the art can make various variations of the present invention according to the above description. Therefore, some details in the embodiments should not be construed as limiting the present invention, and the present invention shall be protected by the scope defined by the attached claims.

Claims

1. An intelligent mowing device based on speed adjustment, characterized in that: The device comprises: The wheel base as the main body comprises a base and a shell, wherein the shell is arranged on the base, and a through cavity is formed between the base and the shell; A cutter disc mechanism is arranged in the through cavity of the wheel disc and is provided with a plurality of blades for mowing; A lifting mechanism has one end fixedly connected to one end of the cutter disc mechanism; the lifting mechanism is arranged in the wheel disc and is used to control the lifting and lowering of the cutter disc mechanism.

2. The intelligent mowing device based on speed adjustment according to claim 1, characterized in that: The vehicle disc also includes: A protective shell is arranged at the lower part of the base and is arranged around the periphery of the cutter disc mechanism at intervals to prevent debris from splashing; A driving motor is fixed on the rear end of the base; A rechargeable battery pack, fixedly mounted at the rear end of the base, for driving the drive motor; A camera, fixed at the front end of the base, for acquiring images on the forward route; The tracking light identifies the path by emitting infrared rays and detecting the reflected light. When the intensity of the detected light changes, the sensor generates different level signals, which are used to control the movement of the car to make it travel along the predetermined path. A laser radar, embedded in the base, is used to obtain distance information of obstacles in order to plan a path algorithm; An ultrasonic sensor, embedded in the base, is used to obtain distance information of obstacles in order to plan a path algorithm; A plurality of universal wheels, arranged on the base and drivably connected to the drive motor; A control circuit board is connected to the drive motor, camera, tracking light, laser radar, ultrasonic sensor and universal wheel signals and controls the drive motor, camera, tracking light, laser radar, ultrasonic sensor and universal wheel through a preset path planning algorithm, and is embedded in the base.

3. The intelligent mowing device based on speed adjustment according to claim 2, characterized in that: The cutter disc mechanism comprises: The upper end cover of the cutter disc has one end rotatably fixedly connected to one end of the lifting mechanism; A plurality of blades, one end surface of which is respectively fixedly connected to the other end surface of the upper end cover of the blade disc; A lower end cover of the cutter disc, one end of which is fixedly connected to the other end surfaces of the plurality of blades; A plurality of torsion springs are fixed through holes in the upper end cover of the cutter disc and positioning pins on the lower end cover of the cutter disc.

4. The intelligent mowing device based on speed adjustment according to claim 3, characterized in that: The blade is fixedly connected to the upper end cover of the cutter disc and the lower end cover of the cutter disc respectively through a fixing device; The fixing means include screws and bolts.

5. The intelligent mowing device based on speed adjustment according to claim 1, characterized in that: The lifting mechanism comprises: A lifting platform, the lower end of which is fixed to one end of the cutter disc mechanism; A motor sleeve, one end of which is butted against the other end of the lifting platform and is provided with a cavity; A motor, disposed in the cavity of the motor sleeve, for controlling the rotation of the cutter disc mechanism; A screw cover is arranged on the upper end surface of the lifting platform; A bearing, fixed on the screw cover; A screw rod, the upper end of which is fixed on the lower end of the bearing; The screw rod fixing base frame has an upper end fixedly connected to the lower end of the screw rod; A lifting guide rail base is provided with the screw rod fixing base frame, and the lower end of the base is fixed on the vehicle disc body; A bevel gear set meshingly connected with the screw rod and used to control the lifting and lowering of the screw rod; The stepper motor can be connected with the bevel gear set to drive The stepper motor fixing bracket is fixedly provided with the stepper motor.

6. An intelligent mowing method based on speed adjustment, characterized in that: An intelligent mowing device based on speed adjustment for use in any one of claims 1 to 5, characterized in that it comprises the following steps: Step S1: Setting the mowing area; Step S2: using a camera and / or a tracking light and / or a laser radar and / or an ultrasonic sensor to adapt a planning path algorithm of the intelligent mowing device; Step S3: In step S2, when the intelligent mowing device passes through the boundary area of ​​the mowing area, the power of the driving motor is reduced to reduce the rotation speed of the blade, thereby controlling the expansion angle of the blade to prevent the blade from colliding with the building in the boundary area.

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