A flat and side slope profiling mower and a control method thereof

Abstract

The application discloses a flat ground and side slope profiling mower and a control method thereof. The flat ground and side slope profiling mower comprises a moving chassis, a side slope weeding device, a flat ground weeding device, an obstacle-avoiding weeding device and a control system. The side slope weeding device is arranged on the top of the moving chassis and comprises a mechanical arm and a side slope weeding mechanism. The flat ground weeding device is arranged on the front of the moving chassis and comprises a flat ground mowing box and a flat ground mowing mechanism. The obstacle-avoiding weeding device is provided in two groups, and the two groups of obstacle-avoiding weeding devices are arranged on the two sides of the flat ground mowing box and comprise a first wheel seat arranged on the flat ground mowing box, a second wheel seat arranged on the wheel seat and an obstacle-avoiding weeding mechanism arranged in the second wheel seat. The first wheel seat is hinged to the flat ground mowing box. The flat ground and side slope profiling mower has the advantages of being suitable for different terrain operations such as flat ground and side slope, and can realize precise mowing operation, which is beneficial to improving the mowing efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mowing, in particular to a flat and side slope profiling mower and a control method thereof. BACKGROUND

[0002] In the scenarios of lawn maintenance, agricultural production and mountain greening, mowing operation faces the challenge of complex and diverse terrains. Traditional mowers are mostly suitable for flat terrains, and when operating on special terrains such as side slopes, problems such as uneven mowing, tool damage, poor machine stability and even rollover may occur. At the same time, there is currently a lack of effective terrain adaptive control methods, making it difficult for traditional mowers to achieve precise mowing operations, which reduces mowing efficiency and increases equipment wear and tear and operational risks. SUMMARY

[0003] The present application provides a flat and side slope profiling mower, which has the advantages of being suitable for different terrain operations such as flat and slope terrains, and can achieve precise mowing operations, which is beneficial to improve mowing efficiency.

[0004] A second object of the present application is to provide a control method for a flat and side slope profiling mower.

[0005] The technical solution of the present application to solve the above technical problems is:

[0006] A flat and side slope profiling mower, comprising a mobile chassis, a side slope mowing device, a flat ground mowing device, an obstacle avoidance mowing device and a control system arranged on the mobile chassis, wherein the side slope mowing device is arranged on the top of the mobile chassis and comprises a mechanical arm arranged on the mobile chassis and a side slope mowing mechanism arranged at the end of the mechanical arm; the flat ground mowing device is arranged on the front of the mobile chassis and comprises a flat ground mowing box arranged on the mobile chassis and a flat ground mowing mechanism arranged in the flat ground mowing box; the obstacle avoidance mowing device is arranged on both sides of the flat ground mowing box and comprises a first wheel seat arranged on the flat ground mowing box, a second wheel seat arranged on the first wheel seat and an obstacle avoidance mowing mechanism arranged in the second wheel seat; wherein the first wheel seat is hinged in the flat ground mowing box.

[0007] Preferably, the mobile chassis comprises a chassis and track walking mechanisms arranged on both sides of the chassis, wherein the track walking mechanism comprises a track mounting frame arranged on the chassis, a driving track arranged on the track mounting frame, and a walking driving mechanism for driving the driving track to move, wherein the walking driving mechanism comprises a buffer seat mounted on the track mounting frame, a track driving wheel, and a walking power mechanism for driving the track driving wheel to rotate; wherein the middle part of the buffer seat is hinged on the track mounting frame; the track driving wheel is mounted on the bottom of the buffer seat, and the top of the buffer seat is connected with the track mounting frame through a buffer spring, and the elastic force of the buffer spring promotes the buffer seat to swing downward to promote the track driving wheel to press the driving track.

[0008] Preferably, the side slope weeding mechanism comprises a driving cylinder arranged at the end of the mechanical arm and a plurality of groups of side slope weeding assemblies, wherein the driving cylinder is provided with a driving device for driving each group of side slope weeding assemblies to rotate and lift, the driving device is in multiple groups, and each group of driving device corresponds to one group of side slope weeding assemblies; the plurality of groups of side slope weeding assemblies are arranged in a circle; each group of side slope weeding assemblies is connected with a control shaft in each group of driving device in the driving cylinder through a connecting plate; the side slope weeding assembly comprises a mowing disc arranged on the connecting plate, a mowing wheel arranged in the mowing disc, and a mowing driving mechanism for driving the mowing wheel to rotate; wherein the bottom of the mowing disc is provided with two groups of grain dividers, and the inside of the mowing disc is fixedly mounted with a control mechanism for controlling the opening angle of the two groups of grain dividers, wherein the control mechanism comprises a control box and a first electric push rod arranged in the control box; the two groups of grain dividers are respectively rotatably connected in the control box through a rotating shaft; the extension rod of the first electric push rod is connected with the two groups of grain dividers through two groups of pull rods; one end of the pull rod is mounted on the extension rod of the first electric push rod, and the other end is connected with the grain divider.

[0009] Preferably, each group of driving devices comprises a second electric push rod mounted in the driving cylinder, a fixed block fixedly mounted at the output end of the second electric push rod, a driving rod mounted at the bottom end of the fixed block, an external thread structure provided at the outer side of the driving rod, a spiral groove provided at the upper end of the control shaft, an internal thread structure provided in the spiral groove and matched with the external thread structure of the driving rod, an avoiding groove provided at the bottom of the driving cylinder for avoiding the control shaft, a limiting mechanism provided in the avoiding groove for limiting the lifting stroke of the control shaft, the third electric push rod provided in the avoiding groove, the setting direction of the third electric push rod being perpendicular to the setting direction of the second electric push rod, an annular limiting groove provided at the outer side of the control shaft, a plurality of groups of annular limiting grooves equidistantly arranged along the axial direction of the control shaft, when the output end of the third electric push rod enters the annular limiting groove on the control shaft, the second electric push rod drives the driving rod to enter the spiral groove of the control shaft to drive the control shaft to rotate, or when the output end of the third electric push rod enters the annular limiting groove on the control shaft, the second electric push rod drives the driving rod to enter the spiral groove of the control shaft, the output end of the third electric push rod exits the annular limiting groove on the control shaft, and the second electric push rod drives the driving rod to move to drive the control shaft to lift.

[0010] Preferably, the flat ground mowing mechanism comprises a driving shaft provided in the flat ground mowing box, arc-shaped mowing knives provided on the driving shaft, and a servo motor for driving the driving shaft to rotate, wherein the servo motor is mounted on the left side wall of the flat ground mowing box, the main shaft of the servo motor is connected with one end of the driving shaft, the other end of the driving shaft is rotatably connected with the right side wall of the flat ground mowing box, and a plurality of groups of arc-shaped mowing knives are equidistantly arranged along the axial direction of the driving shaft, and each group of arc-shaped mowing knives is mounted on the driving shaft through a mounting seat.

[0011] Preferably, the obstacle-avoiding weeding mechanism comprises a mowing blade and a mowing motor for driving the mowing blade to rotate, wherein the mowing motor is mounted on the second wheel seat, and the main shaft of the mowing motor is connected with the mowing blade.

[0012] Preferably, a buffer mechanism is arranged between the first wheel seat and the second wheel seat, the buffer mechanism comprising a telescopic cylinder arranged between the first wheel seat and the second wheel seat, wherein the telescopic cylinder is in multiple groups, and the multiple groups of telescopic cylinders are equidistantly arranged along the circumferential direction of the first wheel seat or the second wheel seat; the second wheel seat is provided with mounting grooves at positions corresponding to the telescopic cylinders; the telescopic cylinder comprises an inner cylinder and an outer cylinder capable of sliding and limiting, wherein the outer cylinder is mounted in the mounting grooves through a clamping block; the inner cylinder is mounted on the first wheel seat; the telescopic cylinder is provided with a compression spring, and the upper end of the compression spring acts on the second wheel seat, and the lower end acts on the first wheel seat.

[0013] Preferably, the side slope weeding assembly is three groups, and the three groups of side slope weeding assemblies are arranged in a circle; correspondingly, the driving device is also three groups, and the three groups of driving devices are centrally mounted in the driving cylinder.

[0014] Preferably, the control system comprises an image acquisition module, a pose detection module, a laser radar module and a main control module, wherein the image acquisition module is used for acquiring depth information and image information of the working area; the pose detection module is used for detecting the pose of the side slope weeding device; the laser radar module is used for detecting the working area; and the main control module is used for receiving the depth information and image information acquired by the image acquisition module and the detection information of the working area by the laser radar module, and processing the same, so as to control the side slope weeding device, the flat ground weeding device and the obstacle avoidance weeding device.

[0015] A control method for a flat ground and side slope profiling mower, comprising the following steps:

[0016] Step S1: acquiring image information and depth information of the working area by the image acquisition module, and transmitting the acquired image information and depth information to the main control module;

[0017] Step S2: after receiving the image information and depth information of the working area, the main control module processes the same to obtain slope information of the working area, generates height and angle adjustment data, and transmits the same to the side slope weeding device, so as to adjust the pose of the side slope weeding device;

[0018] Step S3: after adjusting the pose of the side slope weeding device, the main control module controls the side slope weeding device, the flat ground weeding device and the obstacle avoidance weeding device to work and perform weeding operation.

[0019] Compared with the prior art, the present application has the following advantages and beneficial effects:

[0020] 1. The flat side slope profiling mower of the present invention can adapt to complex terrains such as mountains and hills, and can perform profiling according to the slope of the mountain and the distribution of weeds, so as to flexibly respond to changes in different environments and ensure the mowing effect.

[0021] 2. The flat side slope contour mower of the present invention can monitor the surrounding working environment in real time to realize automatic contour mowing operation, which not only reduces manual intervention and improves the degree of automation of the operation, but also provides a basis for the development of automatic mowing robots.

[0022] 3. The flat ground side slope contour mower of the present invention has good obstacle avoidance capability, can work efficiently in complex terrain and environments with many obstacles, and reduces blade damage caused by obstacles. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a structural schematic diagram of the flat land side slope profiling mower of the present invention;

[0024] Figure 2 It is a structural diagram of the mobile chassis;

[0025] Figure 3 It is a structural diagram of the side slope mowing component;

[0026] Figure 4 It is a bottom sectional view of the side slope mowing assembly;

[0027] Figure 5 for Figure 4 A magnified view of the structure at point A;

[0028] Figure 6 This is an enlarged view of the internal structure of the drive cylinder;

[0029] Figure 7 Schematic diagram of the connection structure between the drive rod and the control shaft;

[0030] Figure 8 This is a cross-sectional view of a flat ground mowing box;

[0031] Figure 9 A cross-sectional view of the obstacle avoidance mowing assembly;

[0032] Figure 10 for Figure 9 A magnified view of the structure at point B in FIG. DETAILED DESCRIPTION

[0033] The present invention will be described in further detail below with reference to the embodiments and drawings, but the embodiments of the present invention are not limited thereto.

[0034] See also Figures 1-10The side slope profiling mower of the present application comprises a mobile chassis 2, a side slope mowing device, a flat ground mowing device 6, an obstacle-avoiding mowing device 7 and a control system 3 arranged on the mobile chassis 2.

[0035] Referring to Figures 1-10 The mobile chassis 2 comprises a chassis 1 and track walking mechanisms arranged on both sides of the chassis 1, wherein the track walking mechanism comprises a track mounting frame 201 arranged on the chassis 1, a driving track 202 arranged on the track mounting frame 201 and a walking driving mechanism for driving the driving track 202 to move, wherein the walking driving mechanism comprises a buffer seat 204 mounted on the track mounting frame 201, a track driving wheel 203 and a walking power mechanism (such as a walking motor and a corresponding transmission mechanism) for driving the track driving wheel 203 to rotate; wherein the middle part of the buffer seat 204 is hinged on the track mounting frame 201; the track driving wheel 203 is mounted on the bottom of the buffer seat 204, and the top of the buffer seat 204 is connected with the track mounting frame 201 through a buffer spring 205, and the elastic force of the buffer spring 205 promotes the buffer seat 204 to swing downward to promote the track driving wheel 203 to press the driving track 202.

[0036] Through the above arrangement, when the mobile chassis 2 walks on the uneven ground, the uneven ground will promote the buffer seat 204 to swing clockwise or counterclockwise around its rotating fulcrum, and because the elastic force of the buffer spring 205 always promotes the track driving wheel 203 to press on the driving track 202, when the mobile chassis 2 moves from low to high, the ground will promote the track driving wheel 203 to move upward, so that the buffer seat 204 swings counterclockwise while compressing the buffer spring 205; at this time, the track driving wheel 203 is still pressed on the driving track 202; when the mobile chassis 2 moves from high to low, the driving track 202 will move downward, and the buffer spring 205 promotes the buffer seat 204 to swing clockwise, so that the track driving wheel 203 moves downward, so that the track driving wheel 203 is still pressed on the driving track 202; the impact force caused by the bumping of the mobile chassis 2 walking on the uneven ground is absorbed by the elastic force of the buffer spring 205, which can significantly reduce the influence of the bumping during walking on the mowing operation. In addition, when the mobile chassis 2 drives on the uneven ground, the built-in buffer mechanism (buffer spring 205 and buffer seat 204) can buffer the vibration of the machine body, so that the side slope mowing device, the flat ground mowing device 6 and the obstacle-avoiding mowing device 7 can always maintain a relatively stable height and posture, thereby ensuring the uniformity of the mowing height and improving the mowing quality.

[0037] In addition, compared with the traditional wheel chassis, the crawler chassis 2 has a large ground contact area and uniform ground pressure distribution, and can effectively adapt to flat ground and side slope terrains with different slopes; whether it is soft grass or a slope with a certain slope, the crawler chassis 2 can provide sufficient friction and grip, thereby ensuring that the flat and side slope profiling mower of the application operates stably and is not prone to skidding or sinking.

[0038] In addition, the crawler chassis 2 has efficient and stable power transmission: the crawler material has high strength and wear resistance, and closely cooperates with other drive wheels of the flat and side slope profiling mower of the application, thereby ensuring the efficiency and stability of power transmission; during the mowing operation, the flat and side slope profiling mower of the application will not have power interruption or poor transmission due to complex terrain, thereby enabling the flat and side slope profiling mower of the application to work continuously and stably.

[0039] Referring to Figures 1-10 , the side slope weeding device is arranged on the top of the mobile chassis 2 and includes a mechanical arm 4 arranged on the mobile chassis 2 and a side slope weeding mechanism 5 arranged at the end of the mechanical arm 4; wherein,

[0040] The mechanical arm 4 automatically adjusts and controls the angle and height of the side slope weeding mechanism 5 through the control system 3, and is made of high-strength alloy steel material with a length of 532 mm. The rectangular limiting hole is processed by high-precision processing technology to ensure that the movement angle of the mechanical arm 4 is accurately controlled within the range of 0-70°. During obstacle avoidance, the mechanical arm 4 can quickly and accurately respond to drive the side slope mowing device to avoid obstacles, improve the sensitivity and reliability of obstacle avoidance, reduce the risk of collision between the mower and obstacles, and ensure operation safety.

[0041] The side slope weeding mechanism 5 includes a drive cylinder 501 arranged at the end of the mechanical arm 4 and a plurality of side slope weeding assemblies, wherein,

[0042] The drive cylinder 501 is provided with a drive device for driving each group of side slope weeding assemblies to rotate and lift, and the drive device is a plurality of groups. The plurality of groups of drive devices correspond to the plurality of groups of side slope weeding assemblies one by one. The plurality of groups of side slope weeding assemblies are arranged in a circle. Each group of side slope weeding assemblies is connected to the control shaft 505 of the drive device in the drive cylinder 501 through the connecting plate 502. In this embodiment, the side slope weeding assembly is three groups, and the corresponding drive device is also three groups.

[0043] Each group of side slope weeding assembly includes a mowing disc 503 arranged on the connecting plate 502, a mowing wheel 506 arranged in the mowing disc 503, and a mowing drive mechanism for driving the mowing wheel 506 to rotate; wherein the bottom of the mowing disc 503 is provided with two groups of grain dividers 507, and the inside of the mowing disc 503 is fixedly installed with a control mechanism for controlling the opening angle of the two grain dividers 507, wherein the control mechanism includes a control box 508 and a first electric push rod 510 arranged in the control box 508; the two groups of grain dividers 507 are respectively rotatably connected in the control box 508 through shafts 509; the extension rods of the first electric push rod 510 are respectively connected with the two groups of grain dividers 507 through two groups of pull rods 511; one end of the pull rod 511 is installed on the extension rod of the first electric push rod 510, and the other end is connected with the grain divider 507;

[0044] Each group of drive devices includes a second electric push rod 512 installed in the drive cylinder 501, and a fixed block 513 fixedly installed at the output end of the second electric push rod 512; the bottom end of the fixed block 513 is installed with a drive rod 514, the outer side of the drive rod 514 is provided with an external thread structure, and the upper end of the control shaft 505 is provided with a spiral groove 515; the spiral groove 515 is provided with an internal thread structure matched with the external thread structure of the drive rod 514; the bottom of the drive cylinder 501 is provided with an avoiding groove for avoiding the control shaft 505; the avoiding groove is provided with a limiting mechanism for limiting the lifting stroke of the control shaft 505, and the limiting mechanism includes a third electric push rod 516 arranged in the avoiding groove, and the arrangement direction of the third electric push rod 516 is perpendicular to the arrangement direction of the second electric push rod 512; the outer side of the control shaft 505 is provided with an annular limiting groove 517, and the annular limiting groove 517 is in multiple groups, and the multiple groups of annular limiting grooves 517 are equidistantly arranged along the axis direction of the control shaft 505;

[0045] Through the above arrangement, when the angle of the mowing disc 503 is adjusted:

[0046] The output end of the third electric push rod 516 enters the annular limiting groove 517 on the control shaft 505, and then the second electric push rod 512 drives the fixed block 513 to move downward, thereby driving the driving rod 514 to move downward and enter the spiral groove 515 of the control shaft 505. Since the control shaft 505 is limited by the third electric push rod 516, the control shaft 505 cannot move downward. When the external thread structure of the driving rod 514 and the internal thread structure in the spiral groove 515 of the control shaft 505 are matched, as the driving rod 514 continues to move downward, since the control shaft 505 cannot continue to move downward, under the action of the threaded connection structure, the control shaft 505 can rotate (similar to the principle of a "rotary wringing mop"), thereby driving the rotation of the mowing disc 503, so as to adjust the angle of the side slope mowing assembly.

[0047] When the height of the mowing disc 503 is adjusted:

[0048] The output end of the third electric push rod 516 enters the annular limiting groove 517 on the control shaft 505, and then the second electric push rod 512 drives the fixed block 513 to move downward, thereby driving the driving rod 514 to move downward and enter the spiral groove 515 of the control shaft 505. At this time, the output end of the third electric push rod 516 exits from the annular limiting groove 517 on the control shaft 505, the second electric push rod 512 drives the driving rod 514 to move downward, thereby driving the control shaft 505 to move synchronously, thereby driving the mowing disc 503 to move, so as to adjust the height of the side slope mowing assembly.

[0049] In addition, the two sets of crop dividers 507 will be driven by the first electric push rod 510 to open and close. Specifically, the piston rod of the electric push rod extends, thereby driving the two sets of crop dividers 507 to rotate outward around the corresponding rotating shafts, thereby promoting the opening of the two sets of crop dividers 507. The piston rod of the electric push rod retracts, thereby driving the two sets of crop dividers 507 to rotate inward around the corresponding rotating shafts, thereby promoting the closing of the two sets of crop dividers 507.

[0050] Referring to Figures 1-10The flat ground weeding device 6 is arranged on the front of the mobile chassis 2, comprising a flat ground mowing box 601 arranged on the mobile chassis 2 and a flat ground mowing mechanism arranged in the flat ground mowing box 601; wherein the bottom of the flat ground mowing box 601 is provided with a direction wheel; the flat ground mowing mechanism comprises a driving shaft 602 arranged in the flat ground mowing box 601, an arc-shaped mowing knife 605, and a servo motor 603 for driving the arc-shaped mowing knife 605 to rotate, wherein the servo motor 603 is mounted on the left side wall of the flat ground mowing box 601, the main shaft of the servo motor 603 is connected with one end of the driving shaft 602; the other end of the driving shaft 602 is rotatably connected to the right side wall of the flat ground mowing box 601; the arc-shaped mowing knife 605 is in multiple groups, and the multiple groups of arc-shaped mowing knives 605 are equidistantly arranged along the axis direction of the driving shaft 602; and each group of arc-shaped mowing knives 605 is mounted on the driving shaft 602 through a mounting seat 604. The servo motor 603 drives the driving shaft 602 to rotate, thereby driving the arc-shaped mowing knife 605 to rotate, so as to realize weeding; in addition, when mowing on a slope, since the arc-shaped mowing knife 605 is used for mowing, compared with a traditional straight blade, the arc-shaped mowing knife 605 can better cut into grass when rotating, so as to improve mowing efficiency and grass cutting effect; in addition, the power of the servo motor 603 is stably transmitted to the arc-shaped mowing knife 605 through the driving shaft 602, so that the arc-shaped mowing knife 605 can rotate at high speed and has sufficient power, the protective shell of the flat ground mowing box 601 can not only prevent grass clippings from splashing, but also protect the personal safety of the operator, and can also reduce the interference of external factors on the operation of the arc-shaped mowing knife 605 to a certain extent.

[0051] Referring to Figures 1-10 The obstacle-avoiding weeding device 7 is in two groups, and the two groups of obstacle-avoiding weeding devices 7 are arranged on the two sides of the flat ground mowing box 601, comprising a first wheel seat 701 arranged on the flat ground mowing box 601, a second wheel seat 702 arranged on the first wheel seat 701, and an obstacle-avoiding weeding mechanism arranged in the second wheel seat 702; wherein the first wheel seat 701 is hinged in the flat ground mowing box 601; wherein the obstacle-avoiding weeding mechanism comprises a mowing blade 705 and a mowing motor 704 for driving the mowing blade 705 to rotate, wherein the mowing motor 704 is mounted on the second wheel seat 702, and the main shaft of the mowing motor 704 is connected with the mowing blade 705.

[0052] Referring to Figures 1-10The first wheel seat 701 and the second wheel seat 702 are provided with a buffer mechanism, the buffer mechanism comprises a telescopic cylinder arranged between the first wheel seat 701 and the second wheel seat 702, wherein the telescopic cylinder is in multiple groups, and the multiple groups of telescopic cylinders are equidistantly arranged along the circumferential direction of the first wheel seat 701 or the second wheel seat 702; the second wheel seat 702 is provided with a mounting groove 703 at a position corresponding to the telescopic cylinder; the telescopic cylinder comprises an inner cylinder 707 and an outer cylinder 706 capable of sliding and limiting, wherein the outer cylinder 706 is mounted in the mounting groove 703 through a clamping block 709; the inner cylinder 707 is mounted on the first wheel seat 701; a compression spring 708 is arranged in the telescopic cylinder, and the upper end of the compression spring 708 acts on the second wheel seat 702, and the lower end acts on the first wheel seat 701. By arranging the buffer mechanism, when the obstacle-avoiding weeding device 7 travels on a bumpy ground, the buffer mechanism can play a buffering role; in addition, since the outer cylinder 706 and the inner cylinder 707 can slide relative to each other, the second wheel seat 702 (and the obstacle-avoiding weeding mechanism in the second wheel seat 702) can adaptively perform lifting movement to adapt to the weeding operation of the ground with different terrains. At the same time, since the first wheel seat 701 is rotationally connected in the flat ground weeding box, the first wheel seat 701 can flexibly rotate when encountering an obstacle, and the compression spring 708 can absorb the collision energy, thereby reducing the impact on the overall structure of the mower, which is beneficial to protect the mower from damage and also ensures the continuity of the mowing operation.

[0053] Referring to Figures 1-10 The control system 3 comprises an image acquisition module, a pose detection module, a laser radar module and a main control module, wherein,

[0054] The image acquisition module is used for acquiring the depth information and image information of the working area, and the image acquisition module is a depth camera; the depth camera is installed in the mechanical arm 4, so that it can accurately capture the depth information of the working area and clear RGB images without affecting the mowing operation; compared with a camera installed at will, the depth camera can provide more comprehensive and accurate visual information of the working area, laying a solid foundation for subsequent terrain analysis and mowing path planning; in addition, the use of a high-resolution, wide-angle depth camera can obtain more detailed images and more extensive depth data of the working area; in complex terrain, high resolution helps to identify minor terrain changes and obstacles, and wide angle can reduce visual blind area and improve the perception ability of the working environment, so that the mower can better adapt to different terrains and scenes.

[0055] The pose detection module is used for detecting the pose of the side slope weeding device; the laser radar module is used for detecting the working area, and the pose detection module is a pose sensor; the pose sensor adopts a high-precision MEMS inertial measurement unit (IMU) and can accurately measure the angle, rotation angle and acceleration change of the mower in three-dimensional space; whether working on a flat lawn or a side slope with a large slope, and during high-speed driving or turning of the mower, stable and reliable pose data can be provided. This enables the mower to know its own attitude in real time, provides a basis for accurate control, has automatic calibration and error compensation functions, and can effectively reduce measurement errors caused by long-term use or environmental factors. As the working time of the mower increases, the pose sensor may drift to some extent, and the automatic calibration and error compensation functions can correct these errors in time to ensure the accuracy of the pose data and improve the precision and reliability of the mower control.

[0056] The laser radar module has high-frequency scanning and long-distance detection capabilities, and its diffuse reflection light source transmitter and receiver are optimized in design, and the energy of the emitted laser beam is concentrated and has small scattering. In the mowing operation, the laser radar module can quickly scan a large area in front of and on the side of the mower, and early warning of topographic changes and obstacles; whether it is a large obstacle far away or a small obstacle that suddenly appears nearby, it can be detected in time to provide protection for the safe operation of the mower; the laser radar module can quickly and accurately calculate the laser flight time through an advanced signal processing algorithm, and feed the terrain information to the industrial computer at high speed and high precision. The high-efficiency signal processing capability enables the laser radar to provide accurate terrain information in real time in complex environments, providing timely data support for the contour control and obstacle avoidance operation of the mower.

[0057] The main control module is used for receiving the depth information and image information collected by the image acquisition module and the detection information of the working area by the laser radar module, and processing the same, so as to control the side slope weeding device, the flat ground weeding device 6 and the obstacle avoidance weeding device 7. In this embodiment, the main control module includes an STM32 development version, a relay and a motor control board group, etc., the inside of the mobile chassis 2 is powered by an engine, the STM32 development board realizes intelligent control of the depth camera, the pose sensor and the laser radar module through circuit control; the motor control board is used for intelligent control of the opening, closing and rotation speed of each motor;

[0058] In addition, the core processing unit STM32F407 of the STM32 development board has high running frequency, strong processing capacity, good stability of crystal oscillator or clock source, and the DC power module has overvoltage, overcurrent and short circuit protection functions. The development interface is rich, which is convenient for subsequent function expansion and debugging, the I / O interface and communication interface adopt high-speed and anti-interference design to ensure the timeliness and accuracy of data transmission. The LED indicator light, key switch, power jack and reset button are reasonably arranged, which is convenient for operators to monitor the equipment state and perform simple operations.

[0059] In the embodiment, sensor networking is performed through multi-sensor fusion, and specific parameters are as follows:

[0060]

[0061] The relay selects a relay with high sensitivity and low power consumption, the contact point of which is made of special metal material resistant to wear and oxidation, can withstand large current impact, and is connected to the STM32 development board through an optimized Dupont line connection mode, so that the signal transmission is stable and reliable, and the start and stop of the high-power equipment such as the mowing motor 704 can be accurately controlled.

[0062] The electromagnetic switch of the motor control board adopts an intelligent control chip, which can automatically adjust the switching frequency and current size according to the motor load and working state, and the circuit board adopts a multi-layer wiring process to reduce electromagnetic interference. The drive control board adopts advanced PWM modulation technology, which can accurately control the input voltage and current of the motor, realize stepless adjustment of the motor speed, and has over-temperature, over-current and overload protection functions to ensure the safe and stable operation of the motor.

[0063] Referring to Figures 1-10 The control method for the flat and side slope profiling mower of the application comprises the following steps:

[0064] Step 1: The depth information of the working area and the clear RGB image information are accurately captured by the depth camera, and the collected depth information and clear RGB image information are transmitted to the STM32 development board through the Bluetooth module;

[0065] Step 2: The STM32 development board analyzes the collected depth information and image information of the working area, obtains the slope inclination information, generates height and angle adjustment data, and transmits the height and angle adjustment data to the side slope mowing device through the Bluetooth module to adjust the height and angle of the side slope mowing assembly. Subsequently, the pose sensor collects the adjusted pose information and feeds it back to the STM32 development board;

[0066] Step 3: After adjusting the pose of the side slope mowing device, the main control module controls the side slope mowing device, the flat mowing device 6 and the obstacle avoidance mowing device 7 to work and perform mowing operation.

[0067] In the present embodiment, the control system 3 further comprises a multi-sensor fusion control module, which comprises a data layer, a feature layer and a decision layer, wherein,

[0068] The data layer uses Kalman filtering algorithm to perform deep learning on the image information collected by the image acquisition module and fusion on the pose information detected by the pose detection module, so that the positioning accuracy can be improved to ±2mm. Specifically, the data layer is responsible for time synchronization, coordinate system alignment, noise filtering and preliminary fusion of the original sensor data; the sensor types include binocular vision module (OAK-D-Lite), solid-state laser radar (Livox Mid-40), millimeter wave radar (TIAWR1843BOOST), distributed fiber touch (FBG-SC-01A) and 9-axis IMU (BOSCH-BMI088), each sensor outputs different data, such as binocular vision module outputs RGB image and depth point cloud; solid-state laser radar generates three-dimensional point cloud; millimeter wave radar provides obstacle distance, speed and azimuth angle data; distributed fiber touch collects strain data of the joints of the robot arm; 9-axis IMU outputs attitude angle, acceleration and angular velocity. Through hardware clock synchronization (PTP) to unify the clock reference, the error is <1ms, and a global coordinate system is established (with laser radar as the reference), and the sensor data is converted to a unified coordinate system using the external parameter matrix. The acceleration and angular velocity output by the IMU are used as input to predict the pose state, and the feature point matching result of the visual SLAM is used as the observation value to update the state estimation, the IMU noise covariance matrix Q is set as a diagonal matrix, and the visual observation noise R is set as 0.005m². The final fused pose accuracy is ±2mm, and the frequency is 100Hz;

[0069] Feature layer: integrate the obstacle features of laser radar / ultrasonic wave through D-S evidence theory; specifically: based on the point cloud density and shape features of laser radar, the obstacle existence confidence Bel_lidar=0.8 is assigned, based on the Doppler effect and reflection intensity of millimeter wave radar, the Bel_radar=0.7 is assigned, and based on the YOLOv5 target detection result of vision, the Bel_vision=0.6 (low light scene weight is reduced to 0.4) is assigned. The Dempster combination formula is used to calculate the joint confidence Bel_combined=(Bel_lidar⊗Bel_radar⊗Bel_vision) / (1-K), the conflict factor K is normalized, and the obstacle confidence map (resolution 10cm×10cm) is output, the dynamic update frequency is 20Hz, and if K>0.5, the redundant sensor secondary verification is triggered and the weight is adjusted by Bayesian network.

[0070] Decision layer: a dynamic decision model based on Bayesian network is established, and multiple parameters such as terrain slope, obstacle distribution, and 4 poses of the mechanical arm are comprehensively considered. The network structure includes an input layer (slope θ, obstacle density D, and mechanical arm pose (x, y, z, a)), a hidden layer (terrain complexity C and operation risk level R), and an output layer (mowing path P and mechanical arm motion parameters (v, ω)). Conditional probability is expressed as follows: if θ>30° and D>0.5, the R=High triggers the obstacle avoidance mode (with a probability of 0.9), C=Low and R=Low selects the efficient straight path (with a probability of 0.85), the network parameters are updated every 200 ms, and the Markov Chain Monte Carlo (MCMC) method is used to learn the environmental changes online.

[0071] In the embodiment, a multi-source information verification mechanism is added in step 2: the slope data of the depth vision and the IMU inclination data are cross-verified, the vision SLAM pose p_vision and the IMU integrated pose p_IMU are compared, if ‖p_vision - p_IMU‖>5cm, the re-initialization is triggered, and the weight of the abnormal sensor is reduced according to the residual size; meanwhile, the displacement feedback of the first electric push rod 510 and the second electric push rod 512 is compared with the terrain scanning data of the laser radar, if |Δs - Δh|>2cm (Δs represents the displacement feedback value of the first electric push rod 510 and the second electric push rod 512. During the operation of the mower, the electric push rod will be adjusted in length according to the terrain and operation requirements, and the displacement feedback value reflects the actual movement distance of the push rod; Δh represents the corresponding terrain change amount in the terrain scanning data of the laser radar. The laser radar obtains the three-dimensional information of the terrain by scanning the operation environment, that is, Δh reflects the fluctuation degree of the terrain in a specific area or time period), the operation is paused and calibrated, so as to ensure the data reliability, improve the environmental perception and autonomous decision-making ability of the system in complex terrain, realize the core goal of "contour mowing", and provide a reusable technical framework for automatic mowing equipment. Experimental verification shows that the positioning error is reduced from ±5cm of monocular vision to ±2cm after multi-sensor fusion, the obstacle avoidance success rate is improved from 70% to 95% in a complex scene, and the algorithm time is reduced from 15ms to 3ms by using the FPGA to accelerate the Kalman filter, which meets the real-time requirement.

[0072] The above is the preferred embodiment of the present application, but the embodiments of the present application are not limited by the above, any change, modification, substitution, combination, simplification made without departing from the spirit and principles of the present application shall be equivalent replacement, which is included in the protection scope of the present application.

Claims

1. A flat land side slope profiling mower, characterized in that: The utility model comprises a mobile chassis and a side slope weeding device, a flat ground weeding device, an obstacle avoidance weeding device and a control system arranged on the mobile chassis, wherein the side slope weeding device is arranged on the top of the mobile chassis, and comprises a mechanical arm arranged on the mobile chassis and a side slope weeding mechanism arranged at the end of the mechanical arm; the flat ground weeding device is arranged on the front of the mobile chassis, and comprises a flat ground mowing box arranged on the mobile chassis and a flat ground mowing mechanism arranged in the flat ground mowing box; the obstacle avoidance weeding device is composed of two groups, and the two groups of obstacle avoidance weeding devices are arranged on both sides of the flat ground mowing box, and comprise a first wheel seat arranged on the flat ground mowing box, a second wheel seat arranged on the first wheel seat, and an obstacle avoidance weeding mechanism arranged in the second wheel seat; wherein the first wheel seat is hinged in the flat ground mowing box; The side slope weeding mechanism includes a driving cylinder provided at the end of the mechanical arm and multiple groups of side slope weeding assemblies, wherein a driving device for driving each group of side slope weeding assemblies to rotate and lift is provided in the driving cylinder, and the driving devices are multiple groups, and the multiple groups of driving devices correspond one to one to the multiple groups of side slope weeding assemblies; the multiple groups of side slope weeding assemblies are arranged in a circle; each group of side slope weeding assemblies is connected to the control shaft of each group of driving devices in the driving cylinder through a connecting plate; the side slope weeding assembly includes a mowing disc provided on the connecting plate, a mowing wheel provided in the mowing disc, and a mowing drive mechanism for driving the mowing wheel to rotate; Each driving device includes a second electric push rod installed in the driving cylinder, and a fixed block is fixedly installed on the output end of the second electric push rod; a driving rod is installed at the bottom end of the fixed block, the outer side of the driving rod is provided with an external thread structure, and the upper end of the control shaft is provided with a spiral groove; an internal thread structure that cooperates with the external thread structure of the driving rod is provided in the spiral groove; a avoidance groove for avoiding the control shaft is provided at the bottom of the driving cylinder; a limiting mechanism for limiting the lifting stroke of the control shaft is provided in the avoidance groove, and the limiting mechanism includes a third electric push rod arranged in the avoidance groove, and the setting direction of the third electric push rod is perpendicular to the setting direction of the second electric push rod; an annular limiting groove is provided on the outer side of the control shaft, and the annular limiting groove is provided in multiple groups, and the multiple groups of annular limiting grooves are arranged equidistantly along the axial direction of the control shaft; The third electric push rod cooperates with the annular limiting groove.

2. The flat land side slope profiling mower according to claim 1, characterized in that: The movable chassis comprises a chassis and a crawler walking mechanism arranged on both sides of the chassis, wherein the crawler walking mechanism comprises a crawler mounting frame arranged on the chassis, a transmission crawler arranged on the crawler mounting frame and a walking drive mechanism for driving the transmission crawler to move, wherein the walking drive mechanism comprises a buffer seat mounted on the crawler mounting frame, a crawler driving wheel and a walking power mechanism for driving the crawler driving wheel to rotate; wherein the middle part of the buffer seat is hinged on the crawler mounting frame; the crawler driving wheel is mounted on the bottom of the buffer seat, and the top of the buffer seat is connected to the crawler mounting frame by a buffer spring, and the elastic force of the buffer spring causes the buffer seat to swing downward to cause the crawler driving wheel to press the transmission crawler.

3. The flat land side slope profiling mower according to claim 1, characterized in that: in, Two groups of croppers are provided at the bottom of the mowing disc, and a control mechanism for controlling the opening angle of the two groups of croppers is fixedly installed inside the mowing disc, wherein the control mechanism includes a control box and a first electric push rod arranged in the control box; the two groups of croppers are rotatably connected to the control box through a rotating shaft; the telescopic rod of the first electric push rod is connected to the two groups of croppers through two groups of pull rods; one end of the pull rod is installed on the telescopic rod of the first electric push rod, and the other end is connected to the crop divider.

4. The flat land side slope profiling mower according to claim 1, characterized in that: When the output end of the third electric push rod enters the annular limiting groove on the control shaft, the second electric push rod drives the drive rod to enter the spiral groove of the control shaft to drive the control shaft to rotate; or, when the output end of the third electric push rod enters the annular limiting groove on the control shaft, the second electric push rod drives the drive rod to enter the spiral groove of the control shaft, the output end of the third electric push rod exits the annular limiting groove on the control shaft, and the second electric push rod drives the drive rod to move to drive the control shaft to rise and fall.

5. The flat land side slope profiling mower according to claim 1, characterized in that: The flat ground mowing mechanism includes a drive shaft arranged in the flat ground mowing box, an arc-shaped mowing blade arranged on the drive shaft, and a servo motor for driving the drive shaft to rotate, wherein the servo motor is installed on the left side wall of the flat ground mowing box, and the main shaft of the servo motor is connected to one end of the drive shaft; the other end of the drive shaft is rotatably connected to the right side wall of the flat ground mowing box; the arc-shaped mowing blades are arranged in multiple groups, and the multiple groups of arc-shaped mowing blades are equidistantly arranged along the axial direction of the drive shaft, and each group of arc-shaped mowing blades is installed on the drive shaft through a mounting seat.

6. The flat land side slope profiling mower according to claim 1, characterized in that: The obstacle avoidance and weeding mechanism includes a mowing blade and a mowing motor for driving the mowing blade to rotate, wherein the mowing motor is installed on the second wheel seat, and the main shaft of the mowing motor is connected to the mowing blade.

7. The flat land side slope profiling mower according to claim 1, characterized in that: A buffer mechanism is provided between the first wheel seat and the second wheel seat, and the buffer mechanism includes a telescopic cylinder provided between the first wheel seat and the second wheel seat, wherein the telescopic cylinders are in multiple groups and are arranged equidistantly along the circumferential direction of the first wheel seat or the second wheel seat; a mounting groove is provided on the second wheel seat at a position corresponding to the telescopic cylinder; the telescopic cylinder includes an inner cylinder and an outer cylinder that can slide relative to each other and limit their position, wherein the outer cylinder is installed in the mounting groove by a clamping block; the inner cylinder is installed on the first wheel seat; a compression spring is provided in the telescopic cylinder, the upper end of the compression spring acts on the second wheel seat, and the lower end acts on the first wheel seat.

8. The flat land side slope profiling mower according to claim 4, characterized in that: There are three groups of side slope weeding components, which are arranged in a circle; correspondingly, there are also three groups of driving devices, which are centrally installed in the driving cylinder.

9. The flat land side slope profiling mower according to claim 1, characterized in that: The control system includes an image acquisition module, a posture detection module, a laser radar module and a main control module, wherein the image acquisition module is used to collect depth information and image information of the working area; the posture detection module is used to detect the posture of the side slope weeding device; the laser radar module is used to detect the working area; the main control module is used to receive the depth information and image information collected by the image acquisition module and the detection information of the working area by the laser radar module, and process them, so as to realize control of the side slope weeding device, the flat ground weeding device, and the obstacle avoidance weeding device.

10. A control method for the flat land side slope profiling mower according to claim 9, characterized in that: The following steps are involved: Step S1: The image acquisition module acquires image information and depth information of the working area, and transmits the acquired image information and depth information to the main control module; Step S2: After receiving the image information and depth information of the working area, the main control module processes it to obtain the slope information of the working area, generates height and angle adjustment data, and transmits it to the side slope weeding device to adjust the posture of the side slope weeding device; Step S3: After the posture of the side slope weeding device is adjusted, the main control module controls the side slope weeding device, the flat ground weeding device, and the obstacle avoidance weeding device to perform weeding operations.

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