Mobile operation system with obstacle avoidance function and operation device obstacle avoidance method thereof

Abstract

The invention provides a mobile operation system with an obstacle avoidance function and an operation device obstacle avoidance method thereof. The mobile operation system comprises: a main frame; the operation device is located on one side, in the left-right direction, of the main rack and comprises a machine tool mounting arm and an operation machine tool, and the machine tool mounting arm is movably connected with the main rack so that the operation device can have an operation position and an obstacle avoidance position; a detection unit including a first detection device on the front side of the work device in the front-back direction and detecting whether there is an obstacle in front of the work device to block the work device in the work position, and a second detection device on the rear side of the first detection device and detecting whether there is an obstacle in front of the work device in the work position; detecting whether an obstacle arrives at or passes through the position of the working device at the working position; and the driving part is in driving connection with the machine tool mounting arm, is coupled with the detection part, and drives the machine tool mounting arm to act relative to the main rack according to a detection result of the detection part so as to enable the working device to be switched between a working position and an obstacle avoidance position.

Description

Technical Field

[0001] The present disclosure relates to the technical field of road maintenance machinery and equipment, and particularly relates to a mobile operation system with an obstacle avoidance function and an obstacle avoidance method for an operation device thereof. Background Art

[0002] Currently, mobile operation systems with an obstacle avoidance function generally adopt an obstacle avoidance mechanism triggered by direct mechanical contact. When the operation device contacts an obstacle, the impact force drives a spring energy storage mechanism to achieve an obstacle avoidance action, and after crossing the obstacle, the elastic potential energy is relied on to reset the operation device.

[0003] However, the rigid collision between the operation device and the obstacle will generate severe mechanical vibration, and long-term operation is likely to cause fatigue damage to structural components, seriously affecting the operation reliability of the equipment. Secondly, under high-speed operation conditions, if the operation device suddenly stops operating in case of a situation, it will generate bidirectional impact loads and form stress concentration during the mechanical transmission process, directly causing the driving part that drives the operation device to avoid obstacles to bear greater stress, easily causing irreversible structural damage, and significantly shortening the service life of road greening maintenance equipment. Summary of the Invention

[0004] The purpose of the present disclosure is to provide a mobile operation system with an obstacle avoidance function and an obstacle avoidance method for an operation device thereof, aiming to solve problems such as the rigid collision between the operation device of the mobile operation system and the obstacle generating severe mechanical vibration, and long-term operation being likely to cause fatigue damage to structural components, affecting the operation reliability of the equipment.

[0005] In a first aspect of the present disclosure, a mobile operation system with an obstacle avoidance function is provided. The mobile operation system is configured to move and operate in the front-rear direction, and includes:

[0006] A main frame;

[0007] An operation device, located on one side of the main frame in the left-right direction, includes a tool mounting arm and an operation tool mounted on the tool mounting arm. The tool mounting arm is movably connected to the main frame so that the operation device has an operation position and an obstacle avoidance position. In the operation position, the operation tool performs road maintenance operations, and in the obstacle avoidance position, the operation tool is closer to the main frame in the left-right direction than in the operation position;

[0008] A detection unit, including a first detection device and a second detection device. The first detection device is located in front of the operation device in the front-rear direction and is configured to detect whether there is an obstacle in front of the operation tool that will block the operation device in the operation position. The second detection device is located behind the first detection device and is configured to detect whether the obstacle reaches or passes through the position where the operation device is located in the operation position; and

[0009] A driving part, which is drivingly connected to the implement mounting arm and coupled to the detection part, is configured to drive the implement mounting arm to move relative to the main frame according to the detection result of the detection part so as to switch the working device between the working position and the obstacle avoidance position.

[0010] In a mobile working system with an obstacle avoidance function in some embodiments, the implement mounting arm is rotatably connected to the main frame, and the driving part is configured to drive the implement mounting arm to rotate relative to the main frame so as to switch the working device between the working position and the obstacle avoidance position.

[0011] In a mobile working system with an obstacle avoidance function in some embodiments,

[0012] The implement mounting arm is movably connected to the main frame around a vertical axis;

[0013] In a state where the working device is in the working position, the implement mounting arm extends in the left - right direction, and the connection position between the implement mounting arm and the main frame and the second detection device are located in the middle of the implement mounting arm in the front - back direction.

[0014] In a mobile working system with an obstacle avoidance function in some embodiments,

[0015] The main frame includes a frame body and a connecting frame. The implement mounting arm is rotatably connected to the frame body, and the connecting frame is connected to the rear side of the frame body;

[0016] The driving part includes a telescopic cylinder. The telescopic cylinder is rotatably connected to the connecting frame and the implement mounting arm respectively, and is configured to provide a driving force for the implement mounting arm to rotate relative to the frame body through its own telescopic movement.

[0017] In a mobile working system with an obstacle avoidance function in some embodiments, the connecting frame includes a mounting hole for the telescopic cylinder to be rotatably connected to the connecting frame.

[0018] In a mobile working system with an obstacle avoidance function in some embodiments, the connecting frame includes a plurality of the mounting holes. The plurality of mounting holes are configured to be arranged at intervals in the front - back direction, and the telescopic cylinder can be selectively rotatably connected to the connecting frame through one of the plurality of mounting holes.

[0019] In a mobile working system with an obstacle avoidance function in some embodiments, the driving part further includes:

[0020] A rigid connecting member, the rigid connecting member includes a first hinge portion, a second hinge portion, and a third hinge portion. The rigid connecting member is rotatably connected to the telescopic cylinder at the first hinge portion, and the rigid connecting member is rotatably connected to the implement mounting arm at the second hinge portion; and

[0021] An energy storage connecting member, a first end of the energy storage connecting member is rotatably connected to the rigid connecting member at the third hinge portion, and a second end of the energy storage connecting member is rotatably connected to the implement mounting arm.

[0022] In a mobile working system with an obstacle avoidance function in some embodiments,

[0023] The first hinge portion, the second hinge portion, and the third hinge portion are located at three vertices of a triangle; and / or

[0024] The distance between the first hinge portion and the second hinge portion is greater than the distance between the second hinge portion and the third hinge portion.

[0025] In a mobile working system with an obstacle avoidance function in some embodiments, the energy storage connecting member is configured as an elastic telescopic rod.

[0026] In a mobile working system with an obstacle avoidance function in some embodiments, the implement mounting arm includes a stop portion, the stop portion abuts against the rigid connecting member, and is configured to limit the extreme position of the rigid connecting member relative to the implement mounting arm moving towards the direction close to the main frame.

[0027] In a mobile working system with an obstacle avoidance function in some embodiments, the rigid connecting member has a notch recessed towards the side away from the frame body on the side facing the frame body. The notch is located between the second hinge portion and the third hinge portion. At the extreme position of the rigid connecting member, the stop portion is located within the notch.

[0028] In a mobile working system with an obstacle avoidance function in some embodiments, the detection portion further includes a third detection device, the third detection device is configured to detect the moving speed of the mobile working system in the front-back direction, and the driving portion is coupled to the third detection device and is configured to control the speed of the implement mounting arm relative to the main frame according to the detection result of the third detection device to control the speed of the working device switching between the working position and the obstacle avoidance position.

[0029] In a mobile working system with an obstacle avoidance function in some embodiments, the mobile working system is a weeding machine, and the working implement includes a cutting wheel.

[0030] The second aspect of the present disclosure provides an obstacle avoidance method for a working device of a mobile working system with an obstacle avoidance function provided in the first aspect of the present disclosure. The obstacle avoidance method for the working device includes:

[0031] When the detection result of the first detection device is yes, the driving part drives the tool mounting arm to move relative to the main frame so that the working device switches from the working position to the obstacle avoidance position; and

[0032] When the detection result of the first detection device is no and the detection result of the second detection device is yes, the driving part drives the tool mounting arm to move relative to the main frame so that the working device switches from the obstacle avoidance position to the working position.

[0033] In the obstacle avoidance method for the working device in some embodiments, the tool mounting arm is rotatably connected to the main frame. The driving part is configured to drive the tool mounting arm to rotate relative to the main frame. The main frame includes a frame body and a connecting frame. The tool mounting arm is rotatably connected to the frame body. The connecting frame is connected to the rear side of the frame body. The driving part includes a telescopic cylinder. The telescopic cylinder is respectively rotatably connected to the connecting frame and the tool mounting arm, and is configured to provide a driving force for the tool mounting arm to rotate relative to the frame body through its own telescopic movement.

[0034] The obstacle avoidance method for the working device further includes:

[0035] Adjust the rotation angle of the tool mounting arm relative to the frame body by adjusting the telescopic distance of the telescopic cylinder.

[0036] In the obstacle avoidance method for the working device in some embodiments, the detection part further includes a third detection device. The third detection device is configured to detect the moving speed of the mobile working system in the front-rear direction. The driving part is coupled to the third detection device.

[0037] The obstacle avoidance method for the working device further includes:

[0038] The driving part controls the speed of the tool mounting arm moving relative to the main frame according to the detection result of the third detection device to control the switching speed of the working device between the working position and the obstacle avoidance position.

[0039] Based on the mobile operation system with obstacle avoidance function provided by the present disclosure, the first detection device of the detection unit detects whether there is an obstacle in front of the operation implement that will block the operation device in the operation position, and the second detection device located behind the first detection device detects whether the obstacle reaches or passes through the position where the operation device is located when in the operation position. The driving unit drives the implement mounting arm of the operation device to move according to the detection results of the first detection device and the second detection device, so that the operation device can switch between the operation position and the obstacle avoidance position. This mobile operation system with obstacle avoidance function can achieve active obstacle avoidance of the operation device, which is beneficial to avoiding rigid collision between the operation device and the obstacle and improving the operation reliability of the equipment, thereby facilitating the improvement of the automation level of the equipment and further improving the work efficiency.

[0040] The operation device obstacle avoidance method of the mobile operation system with obstacle avoidance function of the present disclosure is based on the mobile operation system with obstacle avoidance function of the present disclosure, and thus has the advantages of the mobile operation system with obstacle avoidance function of the present disclosure. This operation device obstacle avoidance method adopts a dual detection mechanism of the first detection device and the second detection device, which is beneficial when the operation device of the mobile operation system with obstacle avoidance function encounters an obstacle with a relatively long dimension in the front-rear direction. Even if the second detection device detects the obstacle, the driving unit can drive the operation implement to the obstacle avoidance position according to the detection result of the first detection device, which is beneficial to avoiding collision between the operation implement and the obstacle during the process of moving to the operation position.

[0041] Through the following detailed description of the exemplary embodiments of the present disclosure with reference to the accompanying drawings, other features and advantages of the present disclosure will become clear. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The accompanying drawings described herein are used to provide a further understanding of the present disclosure, and constitute a part of this application. The illustrative embodiments of the present disclosure and their descriptions are used to explain the present disclosure, and do not constitute an improper limitation of the present disclosure. In the drawings:

[0043] Figure 1 is a top view structural schematic diagram of a part of the mobile operation system according to an embodiment of the present disclosure;

[0044] Figure 2 is Figure 1 a bottom view structural schematic diagram of a part of the mobile operation system shown;

[0045] Figure 3 is Figure 2 a structural schematic diagram of the operation device and the rigid connecting member of the mobile operation system shown;

[0046] Figure 4 is Figure 3 a structural schematic diagram of the rigid connecting member shown;

[0047] Figure 5 Flow chart of an obstacle avoidance method for an operating device of a mobile operating system according to an embodiment of the present disclosure.

[0048] Figures 1 to 5 In the figure, each reference numeral represents respectively:

[0049] 1. Main frame; 11. Frame body; 12. Connecting frame; 12a. Mounting hole; 17. First detection device mounting frame; 100. Pin shaft; 21. Implement mounting arm; 211. Stopping portion; 21a. Pin shaft hole; 22. Operating implement; 3. Rigid connecting member; 31. First protruding portion; 32. Second protruding portion; 3a. Notch; 30a. First hinge portion; 30b. Second hinge portion; 30c. Third hinge portion; 4. Telescopic cylinder; 5. Energy storage connecting member; 61. Snap ring; 62. Bush; 7. First detection device; 9. Second detection device. Detailed implementation manners

[0050] Next, the technical solutions in the embodiments of the present disclosure will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present disclosure. Apparently, the described embodiments are only a part rather than all of the embodiments of the present disclosure. The description of at least one exemplary embodiment is actually only illustrative and in no way restricts the present disclosure and its application or use. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present disclosure without creative efforts fall within the scope of protection of the present disclosure.

[0051] Unless otherwise specifically stated, the relative arrangements, numerical expressions and values of the components and steps set forth in these embodiments do not limit the scope of the present disclosure. At the same time, it should be understood that, for the sake of convenience of description, the dimensions of the various parts shown in the drawings are not drawn in actual proportional relationship. Technologies, methods and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the said technologies, methods and devices should be regarded as part of the authorization specification. In all the examples shown and discussed here, any specific value should be construed as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following drawings, and thus, once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0052] In the description of the present disclosure, it should be understood that the use of words such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Without further statement, the above words have no special meaning and thus cannot be construed as limiting the scope of protection of the present disclosure.

[0053] In the description of the present disclosure, it should be understood that the orientation or positional relationship indicated by orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, upright, horizontal" and "top, bottom", etc. is usually based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present disclosure and simplifying the description. Without contrary instructions, these orientation words do not indicate and imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation on the protection scope of the present disclosure; the orientation words "inside, outside" refer to the inside and outside relative to the contour of each component itself.

[0054] In the following description, the so-called "front" refers to the direction when the mobile operation system moves forward, corresponding to Figure 1 the upward direction in Figure 2 and the downward direction in

[0055] As Figure 1 and Figure 2 shown, an embodiment of the present disclosure provides a mobile operation system with an obstacle avoidance function. The mobile operation system is configured to move and operate in the front-rear direction, and includes a main frame 1, an operation device, a detection unit, and a driving unit. The operation device is located on one side of the main frame 1 in the left-right direction, and includes a tool mounting arm 21 and an operation tool 22 mounted on the tool mounting arm 21. The tool mounting arm 21 is movably connected to the main frame 1 so that the operation device has an operation position and an obstacle avoidance position. In the operation position, the operation tool 22 performs road maintenance operations. In the obstacle avoidance position, the operation tool 22 is closer to the main frame 1 in the left-right direction than in the operation position. The detection unit includes a first detection device 7 and a second detection device 9. The first detection device 7 is located on the front side of the operation device in the front-rear direction and is configured to detect whether there is an obstacle in front of the operation device that will block the operation device in the operation position. The second detection device 9 is located behind the first detection device 7 and is configured to detect whether the obstacle has reached or passed through the position where the operation device is located in the operation position. The driving unit is drivingly connected to the tool mounting arm 21 and is coupled to the detection unit, and is configured to drive the tool mounting arm 21 to move relative to the main frame 1 according to the detection result of the detection unit so that the operation device switches between the operation position and the obstacle avoidance position.

[0056] Based on the mobile operation system with obstacle avoidance function provided by the present disclosure, the first detection device 7 of the detection unit detects whether there is an obstacle in front of the working implement 22 that will block the working device in the working position, and the second detection device 9 located behind the first detection device 7 detects whether the obstacle reaches or passes through the position where the working device is located in the working position. The driving unit drives the implement mounting arm 21 of the working device to act according to the detection results of the first detection device 7 and the second detection device 9, so that the working device switches between the working position and the obstacle avoidance position. The mobile operation system with the obstacle avoidance function can realize the active obstacle avoidance of the working device, which is beneficial to avoiding the rigid collision between the working device and the obstacle and improving the operation reliability of the equipment, thus being beneficial to improving the automation level of the equipment and further improving the working efficiency.

[0057] The mobile operation system is, for example, a road greening maintenance vehicle, a road cleaning vehicle, etc. The working implement 22 is, for example, a cutting wheel of a road greening maintenance vehicle, a sweeping disc of a road cleaning vehicle, etc.

[0058] In some embodiments, the mobile operation system may include a control device, which is signal-connected to the driving unit, the first detection device 7 and the second detection device 9, and is configured to control the driving unit to drive the implement mounting arm 21 to act relative to the main frame 1 according to the detection results of the first detection device 7 and the second detection device 9.

[0059] The control device can be implemented as a general-purpose processor, a programmable logic controller (PLC for short), a digital signal processor (DSP for short), an application specific integrated circuit (ASIC for short), a field-programmable gate array (FPGA for short) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components or any suitable combination thereof for performing the functions described in the present disclosure.

[0060] The control device automatically receives signals and controls the driving unit to drive the implement mounting arm 21 to act relative to the main frame 1, further improving the automation level. Through the signal connection with the driving unit, the control device can quickly respond to the detection results of the first detection device 7 and the second detection device 9, which is beneficial to enabling the driving unit to actuate the implement mounting arm 21 in a timely manner, thus ensuring the obstacle avoidance stability and reliability of the working implement 22.

[0061] Such as Figure 1 and Figure 2As shown, in some embodiments, the main frame 1 may include a first detection device mounting bracket 17. The first detection device mounting bracket 17 is fixedly connected to the front side of the main frame 1 and extends in the front-rear direction. The first detection device 7 is located at the front end of the first detection device mounting bracket 17.

[0062] This setting is beneficial to improving the installation stability of the first detection device 7 and the relative position stability with the working device, thereby being beneficial to the accuracy of the detection results of the first detection device 7.

[0063] As Figure 1 and Figure 2 shown, in some embodiments, the implement mounting arm 21 is rotatably connected to the main frame 1, and the driving part is configured to drive the implement mounting arm 21 to rotate relative to the main frame 1 so that the working implement 22 can be switched between the working position and the obstacle avoidance position.

[0064] The rotatable connection between the implement mounting arm 21 and the main frame 1 enables the working implement 22 to switch between the working position and the obstacle avoidance position along an arc trajectory. The implement mounting arm 21 rotates around a fixed rotating shaft and drives the working implement 22 to move along an arc trajectory, which is beneficial to simplifying the mechanical structure, reducing the volume and weight of the equipment, and thus being beneficial to adapting to the chassis layout of a road greening maintenance vehicle with limited space.

[0065] In some embodiments (not shown), one of the implement mounting arm 21 and the main frame 1 may include an obstacle avoidance guide rail extending in the left-right direction, and the other includes a slider slidably cooperating with the obstacle avoidance guide rail. The driving part is configured to drive the implement mounting arm 21 to move relative to the main frame 1 in the left-right direction so that the working implement 22 can be switched between the working position and the obstacle avoidance position.

[0066] This setting is beneficial to shortening the distance of the path between the working position and the obstacle avoidance position of the working implement 22, and thus being beneficial to improving the obstacle avoidance speed.

[0067] As Figure 1 and Figure 2 shown, in some embodiments, the implement mounting arm 21 is movably connected to the main frame 1 around a vertical axis. When the working implement 22 is in the working position, the implement mounting arm 21 extends in the left-right direction. The connection position between the implement mounting arm 21 and the main frame 1 and the second detection device 9 are located in the middle of the implement mounting arm 21 in the front-rear direction.

[0068] When the mobile operation system operates in the forward direction, the first detection device will detect an obstacle first. At this time, the driving part drives the operation device to switch from the operation position to the obstacle avoidance position. Then, the mobile operation system continues to move forward until the second detection device detects an obstacle. Since the connection position of the tool mounting arm 21 and the main frame 1 and the second detection device 9 are located in the middle of the tool mounting arm 21 in the front-rear direction, at this time, the driving part drives the working tool 22 to switch from the obstacle avoidance position to the operation position, which is beneficial to preventing the operation device from colliding with the obstacle, thereby improving the safety of the mobile operation system during operation, and facilitating the operation device to switch from the obstacle avoidance position to the operation position in advance to improve the working efficiency of the working tool 22.

[0069] During the switching process, the rotation speed and rotation angle of the tool mounting arm 21 can be calculated and adjusted according to the obstacle avoidance requirements to ensure that no collision occurs with the obstacle during the whole switching process.

[0070] In some embodiments (not shown), the connection position of the tool mounting arm 21 and the main frame 1 and the second detection device 9 can also be located at a position deviating from the middle of the tool mounting arm 21 in the front-rear direction. For example, the second detection device 9 can also be arranged on the rear side of the operation device in the operation position in the front-rear direction to ensure that when the second detection device 9 detects an obstacle, the operation device in the obstacle avoidance position will not collide with the obstacle if it is in the operation position at this time, and then the operation device is switched from the obstacle avoidance position to the operation position.

[0071] According to the operation forward speed of the mobile operation system, the structure of the mobile operation system and the geometric relationship with the obstacle, etc., the rotation speed required for the tool mounting arm 21 to achieve the obstacle avoidance purpose can be calculated, and the driving speed of the driving part (such as rotation speed, linear moving speed, etc.) can be calculated and matched according to the rotation speed of the tool mounting arm 21, so as to ensure that the working tool 22 does not touch the obstacle.

[0072] As Figure 1 and Figure 2 shown, in some embodiments, the main frame 1 includes a frame body 11 and a connecting frame 12. The tool mounting arm 21 is rotatably connected to the frame body 11, and the connecting frame 12 is connected to the rear side of the frame body 11. The driving part includes a telescopic cylinder 4, and the telescopic cylinder 4 is rotatably connected to the connecting frame 12 and the tool mounting arm 21 respectively, and is configured to provide a driving force for the tool mounting arm 21 to rotate relative to the frame body 11 through its own telescopic movement. The telescopic cylinder 4 can be, for example, a hydraulic cylinder, a pneumatic cylinder or an electric cylinder.

[0073] The telescopic cylinder 4 is used to drive the implement mounting arm 21 to rotate relative to the frame body 11, which is beneficial to reducing the occupied space of the driving part, achieving the balance between high torque output and compact layout through the synergistic effect of linear drive and rotary pair, efficiently converting the linear driving force into rotary torque within a limited stroke, and enabling the driving part to meet the load driving requirements for switching the working device between the obstacle avoidance position and the working position. On the other hand, using the telescopic cylinder 4 for driving is beneficial to simplifying the calculation of drive speed matching, and is beneficial to achieving precise angle control and fast response. Using the telescopic cylinder 4 is also beneficial to directly adjusting the rotation speed and rotation angle range of the implement mounting arm 21.

[0074] As Figure 1 and Figure 2 shown, in some embodiments, the connecting frame 12 includes a mounting hole 12a. The mounting hole 12a is used for the telescopic cylinder 4 to be rotatably connected to the connecting frame 12.

[0075] The mounting hole 12a is simple to manufacture and has high flexibility in setting positions, which is beneficial to setting the installation positions of the telescopic cylinder 4 and the connecting frame 12 according to different working scenarios.

[0076] As Figure 1 and Figure 2 shown, in some embodiments, the connecting frame 12 includes a plurality of mounting holes 12a. The plurality of mounting holes 12a are configured to be arranged at intervals in the front-back direction. The telescopic cylinder 4 can be selectively rotatably connected to the connecting frame 12 through one of the plurality of mounting holes 12a.

[0077] The connecting frame 12 includes a plurality of mounting holes 12a arranged at intervals in the front-back direction, which is beneficial to enabling the telescopic cylinder 4 to select different installation positions according to the working requirements, directly changing the torque output by adjusting the position of the rotatable connection. For example, the mounting hole 12a at the rear side can be selected to increase the force arm and lift the driving torque, or the mounting hole 12a at the front side can be selected to shorten the force arm, which is beneficial to enhancing the adaptability of the mobile working system to complex working conditions.

[0078] As Figures 2 to 4 shown, in some embodiments, the driving part further includes a rigid connecting piece 3 and an energy storage connecting piece 5. The rigid connecting piece 3 includes a first hinge part 30a, a second hinge part 30b and a third hinge part 30c. The rigid connecting piece 3 is rotatably connected to the telescopic cylinder 4 at the first hinge part 30a. The rigid connecting piece 3 is rotatably connected to the implement mounting arm 21 at the second hinge part 30b. The first end of the energy storage connecting piece 5 is rotatably connected to the rigid connecting piece 3 at the third hinge part 30c. The second end of the energy storage connecting piece 5 is rotatably connected to the implement mounting arm 21.

[0079] When the mobile operation system moves forward, if the mobile operation system suddenly stops moving, at this time, the telescopic cylinder 4 is prone to being impacted by the inertial force. The setting of the rigid connecting member 3 and the energy storage connecting member 5 is beneficial to absorbing the impact when the tool mounting arm 21 rotates in the forward direction of the mobile operation system due to the inertial force, so that the length of the telescopic cylinder 4 remains unchanged. The energy storage connecting member 5 stores energy during the process of absorbing the impact generated by the inertial force, which is beneficial to being able to release energy and rebound and drive the rigid connecting member 3 to rotate and reset around the second hinge portion 30b.

[0080] As Figures 2 to 4 shown, in some embodiments, the first hinge portion 30a, the second hinge portion 30b, and the third hinge portion 30c are located at the three vertices of a triangle.

[0081] The triangular framework formed by the first hinge portion 30a, the second hinge portion 30b, and the third hinge portion 30c is beneficial to forming a stable force transmission path for the rigid connecting member 3 under the driving force of the telescopic cylinder 4. Among them, the first hinge portion 30a and the second hinge portion 30b convert the linear driving force into the rotational torque of the tool mounting arm 21, and the third hinge portion 30c establishes a dynamic balance fulcrum through the energy storage connecting member 5, which is beneficial to restricting the swing amplitude of the tool mounting arm 21 by means of the fixed ratio of the side lengths of the triangle, and is beneficial to improving the structural stability and the trajectory controllability of the tool mounting arm 21.

[0082] As Figures 2 to 4 shown, in some embodiments, the distance between the first hinge portion 30a and the second hinge portion 30b is greater than the distance between the second hinge portion 30b and the third hinge portion 30c.

[0083] When the mobile operation system moves forward, if the mobile operation system suddenly stops moving and causes the rigid connecting member 3 to rotate around the second hinge portion 30b in the forward direction of the mobile operation system, since the distance between the first hinge portion 30a and the second hinge portion 30b is greater than the distance between the second hinge portion 30b and the third hinge portion 30c, that is, the rigid connecting member 3 forms a stroke amplification member, the first hinge portion 30a of the rigid connecting member 3 is rotatably connected to the telescopic cylinder 4, which is beneficial to realizing the rotation of the rigid connecting member 3 to drive the energy storage connecting member 5 to retract and store energy, and is beneficial to quickly absorbing the impact force, thereby reducing the impact force on the telescopic cylinder 4.

[0084] In some embodiments, the energy storage connecting member 5 is configured as an elastic telescopic rod.

[0085] The elastic telescopic rod includes, for example, a sleeve, a moving rod, and an elastic member. One end of the moving rod is located inside the sleeve and is movable inside the sleeve, and the elastic member is arranged between the sleeve and the moving rod, for example, arranged inside the sleeve.

[0086] In some embodiments, the energy storage connecting member 5 can also be configured as a spring. The spring is, for example, a helical spring, a gas spring, etc.

[0087] The elastic coefficient of the elastic part (such as the aforementioned elastic member or spring) of the energy storage connecting member 5 can enable the telescopic cylinder 4 to drive the tool mounting arm 21 to rotate relative to the main frame 1 through the rigid connecting member 3, and can also generate telescopic changes when the mobile operation system suddenly stops moving and the tool mounting arm 21 rotates in the forward direction of the operation of the mobile operation system due to inertia force, thereby absorbing the impact force and protecting the telescopic cylinder 4.

[0088] This setting is beneficial to reducing costs and facilitating installation and replacement.

[0089] Such as Figure 2 and Figure 3 As shown in the figure, in some embodiments, the tool mounting arm 21 includes a stop portion 211. The stop portion 211 abuts against the rigid connecting member 3 and is configured to limit the extreme position of the rigid connecting member 3 moving relative to the tool mounting arm 21 in the direction approaching the main frame 1.

[0090] When the energy storage connecting member 5 rebounds, it will drive the rigid connecting member 3 to rotate around the second hinge portion 30b (clockwise around the appendix Figure 2 direction). Setting the stop portion to limit the movement of the rigid connecting member 3 is beneficial to avoiding the rigid connecting member 3 applying too large a pulling force to the telescopic cylinder 4, thereby generating an impact on the telescopic cylinder 4.

[0091] Such as Figures 2 to 4 As shown in the figure, in some embodiments, the rigid connecting member 3 has a notch 3a recessed away from the main body 11 of the frame on the side facing the main body 11 of the frame. The notch 3a is located between the second hinge portion 30b and the third hinge portion 30c. At the extreme position of the rigid connecting member 3, the stop portion 211 is located within the notch 3a.

[0092] The cooperation between the stop portion 211 and the notch 3a has a simple and compact structure, is easy to set, and is beneficial to quickly forming a physical stop during the rebound process of the energy storage connecting member 5, directly blocking the continuous rebound of the energy storage connecting member 5, and is beneficial to limiting the range of the rotation angle of the rigid connecting member 3 relative to the tool mounting arm 21, and avoiding overload damage of each hinge portion due to over-travel rotation.

[0093] In some embodiments, the detection portion further includes a third detection device. The third detection device is configured to detect the moving speed of the mobile operation system in the front-rear direction. The driving portion is coupled to the third detection device and is configured to control the speed of the tool mounting arm 21 relative to the main frame 1 according to the detection result of the third detection device to control the speed of switching between the operation position and the obstacle avoidance position of the operation device.

[0094] The third detection device is used to detect the moving speed of the mobile operation system in the front-back direction, and the driving part changes the speed of the tool mounting arm 21 relative to the main frame 1 according to the detection result to control the speed of the operation device switching between the operation position and the obstacle avoidance position, which is conducive to achieving a better matching between the rotation speed of the tool mounting arm 21 and the vehicle body displacement of the mobile operation system, and is conducive to preventing the operation device from having too slow a speed when switching from the operation position to the obstacle avoidance position or too fast a speed when switching from the obstacle avoidance position to the operation position and colliding with obstacles at a certain vehicle body displacement speed.

[0095] In some embodiments, the mobile operation system is a weeding machine. The operation tool 22 includes a cutting wheel.

[0096] The weeding machine belongs to a road greening maintenance vehicle. The weeding machine generally travels and operates under the road guardrail and will encounter obstacles including guardrail columns at certain intervals. This weeding machine is conducive to realizing automatic obstacle avoidance, thereby improving the efficiency of the weeding operation. On the other hand, the tool mounting arm 21 of the weeding machine is movably connected to the main frame 1, which is conducive to making multi-angle attitude adjustments in the horizontal plane according to the shape of the green belt, conducive to reducing the operation blind area under complex road conditions, and thus conducive to improving the trimming accuracy and operation efficiency.

[0097] As Figure 5 shown, on the other hand, an operation device obstacle avoidance method for a mobile operation system with an obstacle avoidance function according to an embodiment of the present disclosure includes: when the detection result of the first detection device 7 is yes, the driving part drives the tool mounting arm 21 to act relative to the main frame 1 so that the operation tool 22 switches from the operation position to the obstacle avoidance position. When the detection result of the first detection device 7 is no and the detection result of the second detection device 9 is yes, the driving part drives the tool mounting arm 21 to act relative to the main frame 1 so that the operation tool 22 switches from the obstacle avoidance position to the operation position.

[0098] The operation device obstacle avoidance method of the embodiment of the present disclosure has the advantages of the mobile operation system with an obstacle avoidance function according to the embodiment of the present disclosure. The operation device obstacle avoidance method adopts a dual detection mechanism of the first detection device 7 and the second detection device 9, which is conducive to when the operation device of the mobile operation system encounters an obstacle with a relatively long size in the front-back direction, even if the second detection device 9 detects the obstacle, the driving part can drive the operation tool 22 to be in the obstacle avoidance position according to the detection result of the first detection device 7, which is conducive to avoiding the operation tool 22 colliding with the obstacle during the process of moving to the operation position.

[0099] In some embodiments, the operation device obstacle avoidance method further includes adjusting the rotation angle of the tool mounting arm 21 relative to the frame body 11 by adjusting the telescopic distance of the telescopic cylinder 4.

[0100] The obstacle avoidance method of the working device is beneficial to quickly and timely adjust the avoidance amplitude according to the size and distribution density of obstacles by establishing the mapping relationship between the telescopic distance of the telescopic cylinder 4 and the rotation angle of the tool mounting arm 21. On the other hand, the obstacle avoidance method of the working device only needs to calibrate the corresponding relationship between the telescopic distance and the rotation angle of the telescopic cylinder 4 to realize the adaptive matching of the avoidance amplitude, which is beneficial to reducing the control complexity and failure rate, and is beneficial to the mobile working system to achieve long-term stable operation.

[0101] In some embodiments, the detection unit further includes a third detection device configured to detect the moving speed of the mobile working system in the front-rear direction, and the driving unit is coupled to the third detection device. The obstacle avoidance method of the working device further includes: the driving unit controls the speed of the tool mounting arm 21 relative to the main frame 1 according to the detection result of the third detection device to control the speed of switching between the working position and the obstacle avoidance position of the working device.

[0102] The obstacle avoidance method of the working device is beneficial to achieve the precise synchronization of the rotation speed of the tool mounting arm 21 and the vehicle body displacement of the mobile working system when the working device needs to avoid obstacles, which is beneficial to ensuring that the tool mounting arm 21 completes the obstacle avoidance stroke within a unit time, avoiding collision with obstacles due to incomplete obstacle avoidance caused by obstacle avoidance lag, and is beneficial to improving the accuracy and safety of the obstacle avoidance operation of the mobile working system. When the working device switches from the obstacle avoidance position to the working position, it is also beneficial to prevent the tool mounting arm 21 from moving too fast and colliding with obstacles.

[0103] The following combines Figures 1 to 5 Taking the weeding machine as an example, the mobile working system with obstacle avoidance function and its obstacle avoidance method of the working device according to the embodiments of the present disclosure will be described in detail.

[0104] The weeding machine is configured to move forward for operation. As Figure 1 and Figure 2As shown in the figure, the weeding machine includes a main frame 1, a working device, a driving part, a detecting part, and a control device (not shown). The working device is located on the right side of the main frame 1 and includes a tool mounting arm 21 and a working tool 22 mounted on the tool mounting arm 21. The working tool 22 includes a cutting wheel. The tool mounting arm 21 is rotatably connected to the main frame 1 about a vertical axis. In a state where the working device is in a working position, the tool mounting arm 21 extends in the left-right direction. The tool mounting arm 21 rotates backward relative to the main frame 1 to switch the cutting wheel from the working position to an obstacle avoidance position, so that the cutting wheel is closer to the main frame 1 in the obstacle avoidance position than in the working position. The detecting part includes a first detecting device 7 and a second detecting device 9. The first detecting device 7 is located on the front side of the working device in the front-rear direction and is configured to detect whether there is an obstacle in front of the working device that will block the working device in the working position. The second detecting device 9 is located behind the first detecting device 7 and in the middle of the tool mounting arm 21 in the front-rear direction and is configured to detect whether the obstacle reaches or passes through the position where the working device is located in the working position. The driving part is drivingly connected to the tool mounting arm 21 and coupled to the detecting part, and is configured to drive the tool mounting arm 21 to move relative to the main frame 1 according to the detection result of the detecting part so as to switch the working device between the working position and the obstacle avoidance position. The control device is signal-connected to the driving part, the first detecting device 7, and the second detecting device 9, and is configured to control the driving part to drive the tool mounting arm 21 to rotate relative to the main frame 1 according to the detection results of the first detecting device 7 and the second detecting device 9.

[0105] The first detecting device 7 of the detecting part detects whether there is an obstacle in front of the working device that will block it in the working position, and the second detecting device 9 located behind the first detecting device 7 detects whether the obstacle reaches or passes through the position where the working device is located in the working position. This weeding machine is beneficial to realizing the active obstacle avoidance of the working device, avoiding the rigid collision between the working device and the obstacle, improving the operation reliability of the equipment, enabling the working device to automatically switch between the working position and the obstacle avoidance position, thus improving the automation level of the equipment and further improving the working efficiency.

[0106] As Figure 1 and Figure 2As shown in the figure, the main frame 1 includes a frame body 11, a connecting frame 12, and a first detection device mounting frame 17. The implement mounting arm 21 and the frame body 11 are hinged by a pin shaft 100, and the hinge point is located in the middle of the implement mounting arm 21 in the front-rear direction. The connecting frame 12 extends in the front-rear direction and is connected to the rear side of the frame body 11. The first detection device mounting frame 17 extends in the front-rear direction and is connected to the front side of the frame body 11. The first detection device 7 is mounted at the front end of the first detection device mounting frame 17 to detect whether there is an obstacle in front of the working device that will block the working device in the working position. The second detection device 9 is mounted on the frame body 11 and is located on the left side of the pin shaft 100 in the left-right direction, so that the second detection device 9 is located in the middle of the implement mounting arm 21 in the front-rear direction. Both the first detection device 7 and the second detection device 9 are fixed in position relative to the frame body 11, which is beneficial to improving the accuracy of the detection results of the detection part, and thus beneficial to improving the obstacle avoidance efficiency of the mobile working system.

[0107] As Figure 1 and Figure 2 shown, the connecting frame 12 includes six mounting holes 12a. The six mounting holes 12a are configured to be arranged at intervals in the front-rear direction in sequence.

[0108] As Figures 1 to 4 shown, the driving part includes a telescopic cylinder 4, a rigid connecting piece 3, and an energy storage connecting piece 5. The rigid connecting piece 3 includes a first hinged part 30a, a second hinged part 30b, and a third hinged part 30c. The first hinged part 30a and the third hinged part 30c are through holes. The second hinged part 30b is a pin shaft. The implement mounting arm 21 includes a pin shaft hole 21a that cooperates with the second hinged part 30b. The pin shaft of the second hinged part 30b is installed in the pin shaft hole 21a of the implement mounting arm 21 that cooperates with the second hinged part 30b. A shaft sleeve 62 is installed between the pin shaft of the second hinged part 30b and the pin shaft hole 21a that cooperates with it, and the second hinged part 30b is positioned by a snap ring 61. The first hinged part 30a, the second hinged part 30b, and the third hinged part 30c are at the three vertices of a triangle, and the distance between the first hinged part 30a and the second hinged part 30b is greater than the distance between the second hinged part 30b and the third hinged part 30c. The rigid connecting piece 3 is a plate member and includes a first protruding part 31 and a second protruding part 32. In the state where the working implement 22 is in the working position, in the front-rear direction, the first protruding part 31 protrudes rearward relative to the second hinged part 30b, and the second protruding part 32 protrudes forward relative to the second hinged part 30b. The first hinged part 30a is located on the first protruding part 31. The third hinged part 30c is located on the second protruding part 32.

[0109] The rigid connecting member 3 has a notch 3a recessed away from the main body 11 of the frame on the side facing the main body 11 of the frame. The notch 3a is located between the second hinge portion 30b and the third hinge portion 30c. The implement mounting arm 21 includes a stop portion 211, and the stop portion 211 includes a column extending in the vertical direction. The stop portion 211 is configured to limit the extreme position of the rigid connecting member 3 relative to the implement mounting arm 21 moving toward the main frame 1. At the extreme position, the stop portion 211 abuts against the rigid connecting member 3, and the stop portion 211 is located within the notch 3a.

[0110] The telescopic cylinder 4 is configured to provide a driving force for the implement mounting arm 21 to rotate relative to the main body 11 of the frame through its own telescoping. The telescopic cylinder 4 is selectively rotatably connected to the connecting frame 12 through one of the six mounting holes 12a. According to the different mounting holes 12a connected, the angle of the telescopic cylinder 4 driving the implement mounting arm 21 to rotate through telescoping can be changed. For example, the telescopic cylinder 4 is connected to the connecting frame 12 through the mounting hole 12a at the rearmost end, which is beneficial to saving the driving force of the telescopic cylinder 4 and also beneficial to expanding the angle range of rotation of the implement mounting arm 21. The rigid connecting member 3 is rotatably connected to the telescopic cylinder 4 at the first hinge portion 30a.

[0111] The first end of the energy storage connecting member 5 is rotatably connected to the rigid connecting member 3 at the third hinge portion 30c. The second end of the energy storage connecting member 5 is rotatably connected to the implement mounting arm 21. In a state where the working device is in the working position, the energy storage connecting member 5 extends in the left - right direction.

[0112] If the mobile working system suddenly stops moving during the forward operation process, the implement mounting arm 21 will rotate forward around the pin shaft 100 due to inertia (clockwise in the figure), and since the length of the telescopic cylinder 4 remains unchanged, the rigid connecting member 3 will rotate relative to the implement mounting arm 21 around the second hinge portion 30b (counterclockwise in the figure). Also, since the distance between the first hinge portion 30a and the second hinge portion 30b is greater than the distance between the second hinge portion 30b and the third hinge portion 30c, at this time, the rigid connecting member 3 is a stroke amplification member, and the relative rotation between the rigid connecting member 3 and the implement mounting arm 21 drives the energy storage connecting member 5 to retract and store energy, absorbing the impact force, which is beneficial to reducing the influence on the telescopic cylinder 4. Figure 2 In the figure), and since the length of the telescopic cylinder 4 remains unchanged, the rigid connecting member 3 will rotate relative to the implement mounting arm 21 around the second hinge portion 30b (counterclockwise in the figure). Figure 2 In the figure), and since the distance between the first hinge portion 30a and the second hinge portion 30b is greater than the distance between the second hinge portion 30b and the third hinge portion 30c, at this time, the rigid connecting member 3 is a stroke amplification member, and the relative rotation between the rigid connecting member 3 and the implement mounting arm 21 drives the energy storage connecting member 5 to retract and store energy, absorbing the impact force, which is beneficial to reducing the influence on the telescopic cylinder 4.

[0113] Thereafter, the energy storage connecting member 5 will release the elastic potential energy and drive the implement mounting arm 21 to rotate in the opposite direction around the pin shaft 100 (counterclockwise in the figure) to reset and drive the rigid connecting member 3 to rotate in the opposite direction around the second hinge portion 30b (counterclockwise in the figure). Figure 2 In the figure) to reset and drive the rigid connecting member 3 to rotate in the opposite direction around the second hinge portion 30b (counterclockwise in the figure). Figure 2Reset in the clockwise direction (in the figure). During this process, the stop portion 211 abuts against the rigid connecting member 3. The stop portion 211 is located within the notch 3a and is configured to limit the extreme position at which the rigid connecting member 3 continues to move relative to the implement mounting arm 21 in the direction approaching the main frame 1. This setting helps to avoid the impact on the telescopic cylinder 4 when the energy storage connecting member 5 releases elastic potential energy.

[0114] As Figure 5 shown, the obstacle avoidance method for the working device includes: when the detection result of the first detection device 7 is yes, the driving part drives the implement mounting arm 21 to act relative to the main frame 1 so that the working device switches from the working position to the obstacle avoidance position. When the detection result of the first detection device 7 is no and the detection result of the second detection device 9 is yes, the driving part drives the implement mounting arm 21 to act relative to the main frame 1 so that the working device switches from the obstacle avoidance position to the working position.

[0115] The obstacle avoidance method for the working device adopts a dual detection mechanism of the first detection device 7 and the second detection device 9. When the mobile working system encounters an obstacle with a relatively long dimension in the front-back direction, even if the second detection device 9 detects the obstacle, the driving part can drive the working implement 22 to the obstacle avoidance position according to the detection result of the first detection device 7, which helps to avoid the collision between the working device and the obstacle during the process of moving to the working position.

[0116] The obstacle avoidance method for the working device further includes that the control device adjusts the telescopic distance of the telescopic cylinder 4 to adjust the angle at which the implement mounting arm 21 rotates relative to the frame body 11.

[0117] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present disclosure and are not intended to limit them; although the present disclosure has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that: modifications can still be made to the specific implementation manners of the present disclosure or equivalent replacements can be made to some technical features, and they should all be covered within the scope of the technical solutions claimed by the present disclosure.

Claims

1. A mobile operation system with an obstacle avoidance function, characterized in that The mobile working system is configured to move the work in the front-rear direction, including: A main frame (1); A working device located on one side of the main frame (1) in the left-right direction, including a tool mounting arm (21) and a working tool (22) mounted on the tool mounting arm (21). The tool mounting arm (21) is movably connected to the main frame (1) so that the working device has a working position and an obstacle avoidance position. In the working position, the working tool (22) performs road maintenance work. In the obstacle avoidance position, the working tool (22) is closer to the main frame (1) in the left-right direction than in the working position; A detection unit, including a first detection device (7) and a second detection device (9). The first detection device (7) is located in front of the working device in the front-rear direction and is configured to detect whether there is an obstacle in front of the working tool (22) that will block the working device in the working position. The second detection device (9) is located behind the first detection device (7) and is configured to detect whether the obstacle reaches or passes through the position where the working device is located when in the working position; and A driving unit, drivingly connected to the tool mounting arm (21) and coupled to the detection unit, is configured to drive the tool mounting arm (21) to move relative to the main frame (1) according to the detection result of the detection unit so that the working device switches between the working position and the obstacle avoidance position.

2. The mobile operation system with obstacle avoidance function according to claim 1, wherein The tool mounting arm (21) is rotatably connected to the main frame (1), and the driving unit is configured to drive the tool mounting arm (21) to rotate relative to the main frame (1) so that the working device switches between the working position and the obstacle avoidance position.

3. The mobile working system with an obstacle avoidance function according to claim 2, characterized in that The tool mounting arm (21) is movably connected to the main frame (1) around a vertical axis; In a state where the working device is in the working position, the tool mounting arm (21) extends in the left-right direction, and the connection position of the tool mounting arm (21) and the main frame (1) and the second detection device (9) are located in the middle of the tool mounting arm (21) in the front-rear direction.

4. The mobile working system with an obstacle avoidance function according to claim 1, characterized in that The main frame (1) includes a frame body (11) and a connecting frame (12). The tool mounting arm (21) is rotatably connected to the frame body (11), and the connecting frame (12) is connected to the rear side of the frame body (11); The driving unit includes a telescopic cylinder (4). The telescopic cylinder (4) is rotatably connected to the connecting frame (12) and the tool mounting arm (21) respectively, and is configured to provide a driving force for the tool mounting arm (21) to rotate relative to the frame body (11) through its own telescoping.

5. The mobile operation system with an obstacle avoidance function according to claim 4, characterized in that The connecting frame (12) includes a mounting hole (12a) for the telescopic cylinder (4) to be rotatably connected to the connecting frame (12).

6. The mobile operation system with an obstacle avoidance function according to claim 5, characterized in that, The connecting frame (12) includes a plurality of the mounting holes (12a), the plurality of mounting holes (12a) being configured to be arranged at intervals in the front-rear direction, and the telescopic cylinder (4) is selectively rotatably connected to the connecting frame (12) through one of the plurality of mounting holes (12a).

7. The mobile operation system with an obstacle avoidance function according to claim 4, wherein, The driving part further includes: A rigid connecting member (3), the rigid connecting member (3) including a first hinged part (30a), a second hinged part (30b) and a third hinged part (30c), the rigid connecting member (3) being rotatably connected to the telescopic cylinder (4) at the first hinged part (30a), and the rigid connecting member (3) being rotatably connected to the implement mounting arm (21) at the second hinged part (30b); and An energy storage connecting member (5), a first end of the energy storage connecting member (5) being rotatably connected to the rigid connecting member (3) at the third hinged part (30c), and a second end of the energy storage connecting member (5) being rotatably connected to the implement mounting arm (21).

8. The mobile operation system with an obstacle avoidance function according to claim 7, wherein The first hinged part (30a), the second hinged part (30b) and the third hinged part (30c) are at three vertices of a triangle; and / or The distance between the first hinged part (30a) and the second hinged part (30b) is greater than the distance between the second hinged part (30b) and the third hinged part (30c).

9. The mobile operation system with an obstacle avoidance function according to claim 7, characterized in that, The energy storage connecting member (5) is configured as an elastic telescopic rod.

10. The mobile operation system with obstacle avoidance function according to claim 7, characterized in that, The implement mounting arm (21) includes a stop part (211), the stop part (211) abuts against the rigid connecting member (3), and is configured to limit the extreme position of the rigid connecting member (3) relative to the implement mounting arm (21) moving towards the direction close to the main frame (1).

11. The mobile operation system with an obstacle avoidance function according to claim 10, characterized in that, The side of the rigid connecting member (3) facing the frame body (11) has a notch (3a) recessed towards the side away from the frame body (11), the notch (3a) being located between the second hinged part (30b) and the third hinged part (30c), and at the extreme position of the rigid connecting member (3), the stop part (211) is located in the notch (3a).

12. The mobile operation system with obstacle avoidance function according to any one of claims 1 to 11, characterized in that, The detection part further includes a third detection device, the third detection device being configured to detect the moving speed of the mobile operation system in the front-rear direction, and the driving part is coupled with the third detection device and is configured to control the speed of the implement mounting arm (21) relative to the main frame (1) according to the detection result of the third detection device to control the speed of the operation device switching between the operation position and the obstacle avoidance position.

13. The mobile operation system with an obstacle avoidance function according to any one of claims 1 to 11, characterized in that, The mobile operation system is a weeding machine, and the operation implement (22) includes a cutting wheel.

14. An obstacle avoidance method for an operating device of a mobile operating system with an obstacle avoidance function according to any one of claims 1 to 13, characterized in that, The method for the operation device to avoid obstacles includes: When the detection result of the first detection device (7) is yes, the driving part drives the implement mounting arm (21) to act relative to the main frame (1) so that the operation device switches from the operation position to the obstacle avoidance position; and The detection result of the first detection device (7) is negative, and the detection result of the second detection device (9) is positive. The driving part drives the implement mounting arm (21) to move relative to the main frame (1) so that the working device is switched from the obstacle avoidance position to the working position.

15. The obstacle avoidance method for the working device according to claim 14, characterized in that, The implement mounting arm (21) is rotatably connected to the main frame (1). The driving part is configured to drive the implement mounting arm (21) to rotate relative to the main frame (1). The main frame (1) includes a frame main body (11) and a connecting frame (12). The implement mounting arm (21) is rotatably connected to the frame main body (11). The connecting frame (12) is connected to the rear side of the frame main body (11). The driving part includes a telescopic cylinder (4). The telescopic cylinder (4) is rotatably connected to the connecting frame (12) and the implement mounting arm (21) respectively, and is configured to provide a driving force for the implement mounting arm (21) to rotate relative to the frame main body (11) through its own telescopic movement. The obstacle avoidance method for the working device further includes: Adjusting the rotation angle of the implement mounting arm (21) relative to the frame main body (11) by adjusting the telescopic distance of the telescopic cylinder (4).

16. The obstacle avoidance method for a work device according to claim 14, characterized in that, The detection part further includes a third detection device. The third detection device is configured to detect the moving speed of the mobile working system in the front-rear direction. The driving part is coupled with the third detection device. The obstacle avoidance method for the working device further includes: The driving part controls the movement speed of the implement mounting arm (21) relative to the main frame (1) according to the detection result of the third detection device to control the switching speed of the working device between the working position and the obstacle avoidance position.

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