Dual obstacle avoidance mowing device and method of operation thereof

Abstract

The application discloses a double-obstacle-avoiding type mowing device and a working method thereof in the technical field of mowers, and belongs to the field of mowing device technology. The double-obstacle-avoiding type mowing device comprises a variable-amplitude mechanism, a main disc cutter group, an obstacle-avoiding disc cutter group, a transmission mechanism, a stubble height adjusting device and a main body frame. The main disc cutter group is installed in the main body frame. The obstacle-avoiding disc cutter group is symmetrically installed on the two sides of the main body frame. The transmission mechanism is in transmission connection with the main disc cutter group and the obstacle-avoiding disc cutter group and is used for driving the disc cutter to rotate. The double-obstacle-avoiding type mowing device can realize passive obstacle avoidance and active obstacle avoidance and is suitable for corner operation and operation in a small turning radius place.

Description

Technical Field

[0001] This invention relates to the field of lawnmower technology, specifically to a dual obstacle avoidance lawnmower device and its working method. Background Technology

[0002] The area of ​​lawns in cities and airports is increasing, leading to a greater demand for lawn maintenance and requiring lawnmowers to adapt to various complex working conditions. While large civil airports are generally flat, they also present challenging terrain such as trenches, vertical obstacles, and water crossings. Current lawnmowers on the market have the following limitations when operating on large lawns: 1. They are unsuitable for corner operations and areas with small turning radii, resulting in poor maneuverability; 2. They cannot achieve high efficiency during high-speed relocation operations. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and provide a dual obstacle avoidance lawn mowing device and its working method. The dual obstacle avoidance lawn mowing device can realize both passive obstacle avoidance and active obstacle avoidance functions, and is suitable for corner operations and operations in places with small turning radii.

[0004] To achieve the above objectives, the present invention is implemented using the following technical solution:

[0005] On one hand, the present invention provides a dual obstacle avoidance mowing device, comprising: a variable amplitude mechanism, a main blade assembly, an obstacle avoidance blade assembly, a transmission mechanism, a stubble height adjustment device, and a main frame. The main blade assembly is installed inside the main frame, and the obstacle avoidance blade assemblies are symmetrically installed on both sides of the main frame. The transmission mechanism is connected to the main blade assembly and the obstacle avoidance blade assembly to drive the blades to rotate. The stubble height adjustment device is installed on the front side of the working direction of the dual obstacle avoidance mowing device to adjust the vertical height of the stubble. The variable amplitude mechanism is installed on the rear side of the working direction of the dual obstacle avoidance mowing device to adjust the posture of the mowing device and ensure that the mowing device floats and adheres to the ground.

[0006] Furthermore, the luffing mechanism includes a linkage mechanism, a connecting mechanism, and a locking structure; the locking structure and the linkage mechanism are both disposed on the connecting mechanism, the connecting mechanism is used to connect the luffing mechanism to the main frame, the locking structure is used to lock the luffing mechanism to the main frame, and the linkage mechanism is used to change the mowing amplitude of the dual obstacle avoidance mowing device.

[0007] Furthermore, the connecting mechanism includes a connecting plate and a first ear plate seat. The upper end of the connecting plate is provided with a wedge-shaped block, and the lower end is provided with a first support plate. The main frame is provided with a connecting component on the rear side of the working direction of the dual obstacle avoidance mowing device, including a wedge-shaped groove at the upper end and a second support plate at the lower end. The wedge-shaped groove cooperates with the wedge-shaped block, and the connecting plate can be snapped between the wedge-shaped groove and the second support plate. The first ear plate seat is provided at the bottom of the wedge-shaped block and is used to connect the pitch cylinder to adjust the pitch angle of the dual obstacle avoidance mowing device.

[0008] The locking structure includes an L-shaped wrench, a pressure rod, a return spring, a pin, and a first limiting device. The L-shaped wrench is hinged to the side of the connecting plate away from the main frame. The working end of the L-shaped wrench is provided with a guide sleeve. The first support plate and the second support plate have corresponding pin holes. The pin hole of the first support plate is provided with a slot. The pin is inserted into the slot along the side close to the L-shaped wrench. The top of the pin is provided with a limiting platform. The pressure rod is hinged to the upper end of the limiting platform. The return spring is sleeved on the outside of the pressure rod. The bottom end of the return spring is fixedly connected to the bottom end of the pressure rod. The guide sleeve is sleeved on the outside of the pressure rod and abuts against the upper end of the return spring. The first limiting device is installed on the pressure rod to limit the relative position of the guide sleeve and the pressure rod.

[0009] The linkage mechanism includes a connecting rod, a second lug seat, and a first driving device. The connecting rod is hinged to the same side of the L-shaped wrench and can rotate along a vertical plane. The second lug seat is mounted on the connecting rod and is used to connect the first driving device. The first driving device can drive the connecting rod to rise and fall.

[0010] Furthermore, the main disc cutter assembly includes a disc cutter support and multiple first disc cutter assemblies. Each first disc cutter assembly includes a first drive shaft, a first bearing seat, and a cutting tool. The first drive shaft is installed inside the first bearing seat. The cutting tool includes a circular disc cutter seat and a blade. One end of the first drive shaft is fixedly connected to the center of the disc cutter seat. The blade is detachably installed on the edge of the disc cutter seat along the radial direction. The first bearing seats of the multiple first disc cutter assemblies are all fixedly connected to the disc cutter support.

[0011] Furthermore, the obstacle avoidance disc cutter assembly includes a second disc cutter assembly, a connecting rod, a swing rod, and a second drive device;

[0012] The second disc cutter assembly includes a second drive shaft, a second bearing housing, and a cutting tool. The second drive shaft is installed inside the second bearing housing. The cutting tool is coaxially and detachably connected to the second drive shaft. The connecting rod is fixedly connected between the second bearing housing and the nearest first bearing housing. A second drive device support is provided on the side of the disc cutter bracket. The second drive device is hinged to the second drive device support. One end of the swing rod is hinged to the output end of the second drive device, and the other end is hinged to the disc cutter bracket. The hinge point between the swing rod and the second drive device is connected to the middle of the connecting rod by a spring.

[0013] Furthermore, the obstacle avoidance disc cutter assembly also includes a cutter cover and a second limiting device. The cutter cover is installed outside the second disc cutter assembly, and the second limiting device is installed on the main frame to limit the swing amplitude of the connecting rod.

[0014] Furthermore, the transmission mechanism includes a third drive device, multiple pulleys and multiple belts. The multiple pulleys correspond one-to-one with the first disc cutter assembly and the second disc cutter assembly, and are detachably connected to one end of the first drive shaft or the second drive shaft. One of the pulleys is connected to the output end of the third drive device. The belt is sleeved between two pulleys. The third drive device can drive all the first disc cutter assemblies and the second disc cutter assemblies to work.

[0015] Furthermore, the stubble height adjustment device includes a first pipe, a second pipe, casters, and bolts. The first pipe is fixedly connected to the main frame, and the second pipe is sleeved inside the first pipe, with its bottom end hinged to the axle of the casters. Both the first and second pipes have a row of corresponding through holes. By adjusting the depth of the second pipe sleeved on the first pipe and locking the relative positions of the first and second pipes through the through holes on the first and second pipes with bolts, the working height of the dual obstacle avoidance mowing device can be adjusted.

[0016] Furthermore, the main frame also includes sliding shoes and protective chains. The sliding shoes are installed on both sides of the working direction of the dual obstacle avoidance mowing device to support the dual obstacle avoidance mowing device, maintain the distance between the blade and the ground, and maintain the forward direction of the dual obstacle avoidance mowing device. The protective chains are installed at the bottom front side of the dual obstacle avoidance mowing device to protect the blade.

[0017] Furthermore, it also includes a monitoring system, an industrial control computer, and a solenoid valve assembly. The solenoid valve assembly is installed on the second drive device. The monitoring system is used to collect information on obstacles around the dual obstacle avoidance mower and transmit it to the industrial control computer. The industrial control computer is used to control the solenoid valve assembly to open / close the second drive device based on the collected obstacle information, thereby driving the obstacle avoidance disc blade assembly to avoid obstacles or return to its original position.

[0018] On the other hand, the present invention provides a method for operating the aforementioned dual obstacle avoidance mowing device, comprising:

[0019] In its initial state, the mowing device moves forward along the working direction.

[0020] When encountering an obstacle, the obstacle avoidance blade assembly is squeezed and moves along the direction of the squeeze. As the mowing device continues to advance, the obstacle avoidance blade assembly mows the grass around the obstacle.

[0021] After passing through an obstacle, the obstacle avoidance disc assembly is reset by the action of the spring, returning to its initial state.

[0022] Compared with the prior art, the beneficial effects achieved by the present invention are as follows:

[0023] The dual obstacle avoidance mowing device provided by this invention, by setting up a main blade assembly, an obstacle avoidance blade assembly and a transmission mechanism, and driving the blades to rotate, can simultaneously perform mowing work in front of and to the side of the device, and is suitable for corner operation environments.

[0024] The present invention provides a dual obstacle avoidance mowing device, wherein the obstacle avoidance disc blade assembly includes a second disc blade assembly, a connecting rod, a swing rod, and a second drive device. One end of the swing rod is hinged to the output end of the second drive device, and the other end is hinged to the disc blade support. The hinge point between the swing rod and the second drive device is connected to the middle of the connecting rod via a spring. When the obstacle avoidance disc blade assembly encounters an obstacle, it is compressed, and the spring connecting the swing rod and the second drive device is stressed. The obstacle avoidance disc blade assembly moves along the direction of the stress, which can cut weeds around the corner obstacles to the maximum extent. When it passes the obstacle, the obstacle avoidance disc blade assembly returns to its original position under the action of the spring, realizing the passive obstacle avoidance function.

[0025] The dual obstacle avoidance mowing device provided by this invention uses a transmission mechanism to drive multiple blades with a single drive device. The multiple blade assemblies are arranged on the blade support by adjusting the installation phase angle, which can avoid collision and missed cutting between adjacent blades. By setting a stubble height adjustment device, the height of the mowing device can be adjusted to meet the mowing requirements at different vertical heights.

[0026] The dual obstacle avoidance lawn mowing device provided by this invention includes a monitoring system, an industrial control computer, and a solenoid valve assembly. The solenoid valve assembly is installed on a second drive device. The monitoring system is used to collect information on obstacles around the dual obstacle avoidance lawn mowing device and transmit it to the industrial control computer. The industrial control computer is used to control the solenoid valve assembly to open / close the second drive device based on the collected obstacle information, thereby driving the obstacle avoidance disc blade assembly to avoid obstacles or return to its original position, thus achieving active obstacle avoidance function. Attached Figure Description

[0027] Figure 1 This is a first-view structural schematic diagram of the dual obstacle avoidance lawn mowing device provided in an embodiment of the present invention;

[0028] Figure 2 This is a first-view structural schematic diagram of the amplitude-changing mechanism provided in an embodiment of the present invention;

[0029] Figure 3 This is a schematic diagram of the amplitude-changing mechanism from a second perspective provided in an embodiment of the present invention;

[0030] Figure 4 This is a schematic diagram of the structure of the main disc cutter group, transmission mechanism, and obstacle avoidance disc cutter group provided in the embodiments of the present invention;

[0031] Figure 5 This is a structural schematic diagram of the dual obstacle avoidance lawn mowing device provided in an embodiment of the present invention from a second perspective;

[0032] Figure 6 This is a schematic diagram of the first direction obstacle avoidance of the dual obstacle avoidance lawn mowing device provided in an embodiment of the present invention;

[0033] Figure 7 This is a schematic diagram of the second-direction obstacle avoidance of the dual obstacle avoidance lawn mowing device provided in an embodiment of the present invention;

[0034] Figure 8 This is a schematic diagram of the active obstacle avoidance process of the dual obstacle avoidance lawn mowing device provided in an embodiment of the present invention;

[0035] Figure 9 This is a schematic diagram of the monitoring system provided in an embodiment of the present invention;

[0036] Figure 10 This is a structural schematic diagram of the amplitude-changing mechanism from a third-view perspective provided in an embodiment of the present invention;

[0037] Figure 11 This is a schematic diagram of the first process of the obstacle avoidance example of the dual obstacle avoidance lawn mowing device provided in the embodiments of the present invention;

[0038] Figure 12 This is a schematic diagram of the second process of the obstacle avoidance example of the dual obstacle avoidance lawn mowing device provided in the embodiment of the present invention.

[0039] In the diagram: 1. Luffing mechanism; 101. Linkage mechanism; 1011. Linkage; 1012. Second ear plate seat; 102. Connecting mechanism; 1021. Connecting plate; 1022. First ear plate seat; 103. Locking structure; 1031. L-shaped wrench; 1032. Pressure rod; 1033. Return spring; 1034. Pin; 1035. Indicator block; 1036. Guide sleeve; 1037. Slot; 1038. First limiting device; 2. Main disc cutter assembly; 201. Disc cutter bracket; 2011. Second drive device support; 202. First disc cutter assembly; 2021. First transmission shaft; 2022. First bearing seat; 2023. Cutting tool; 2023 1. Cutter head holder; 2. Blade; 3. Transmission mechanism; 301. Third drive device; 302. Pulley; 303. Belt; 4. Obstacle avoidance disc cutter assembly; 401. Second disc cutter assembly; 4011. Second drive shaft; 4012. Second bearing seat; 402. Connecting rod; 403. Swing rod; 404. Second drive device; 405. Blade cover; 406. Second limit device; 5. Stubble height adjustment device; 501. First pipe fitting; 502. Second pipe fitting; 503. Caster; 504. Bolt; 6. Main frame; 601. Connecting assembly; 602. Slipper; 603. Protective chain; 701. LiDAR; 702. Millimeter-wave radar. Detailed Implementation

[0040] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0041] The following detailed description of some embodiments of the present invention is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0042] This embodiment provides a dual obstacle avoidance lawn mowing device, such as Figure 1 As shown, the device includes: a variable amplitude mechanism 1, a main blade assembly 2, an obstacle avoidance blade assembly 4, a transmission mechanism 3, a stubble height adjustment device 5, and a main frame 6. The main blade assembly 2 is installed inside the main frame 6, and the obstacle avoidance blade assembly 4 is symmetrically installed on both sides of the main frame 6. The transmission mechanism 3 is connected to the main blade assembly 2 and the obstacle avoidance blade assembly 4 to drive the blades to rotate. The stubble height adjustment device 5 is installed on the front side of the working direction of the dual obstacle avoidance mowing device to adjust the vertical height of the stubble. The variable amplitude mechanism 1 is installed on the rear side of the working direction of the dual obstacle avoidance mowing device to adjust the posture of the mowing device and ensure that the mowing device floats and adheres to the ground.

[0043] like Figure 2 and Figure 3As shown, the variable amplitude mechanism 1 includes a linkage mechanism 101, a connecting mechanism 102, and a locking structure 103; the connecting mechanism 102 includes a connecting plate 1021 and a first ear plate seat 1022. The upper end of the connecting plate 1021 is provided with a wedge block, and the lower end is provided with a first support plate. The main frame 6 is provided with a connecting component 601 on the rear side of the working direction of the dual obstacle avoidance mowing device, including a wedge groove at the upper end and a second support plate at the lower end. The wedge groove cooperates with the wedge block, and the connecting plate 1021 can be snapped between the wedge groove and the second support plate. The first ear plate seat 1022 is provided at the bottom of the wedge block and is used to connect the pitch cylinder to adjust the pitch angle of the mowing device.

[0044] The locking structure 103 includes an L-shaped wrench 1031, a pressure rod 1032, a return spring 1033, a pin 1034, and a first limiting device 1038. The L-shaped wrench 1031 is hinged to the side of the connecting plate 1021 away from the main frame 6. The working end of the L-shaped wrench is provided with a guide sleeve 1036. The first support plate and the second support plate have corresponding holes for the pin 1034. The first support plate has a slot 1037 in the pin 1034 hole. The pin 1034 is positioned close to the L-shaped wrench. One side of pin 1031 is inserted into slot 1037. A limiting platform is provided at the top of pin 1034. The pressure rod 1032 is hinged to the upper end of the limiting platform. The return spring 1033 is sleeved on the outside of the pressure rod 1032, with its bottom end fixedly connected to the bottom end of the pressure rod 1032. A guide sleeve 1036 is sleeved on the outside of the pressure rod 1032 and abuts against the upper end of the return spring 1033. The first limiting device 1038 is installed on the pressure rod to limit the relative position of the guide sleeve 1036 and the pressure rod 1032. Figure 10 As shown, in this embodiment, a limiting nut is used as the first limiting device 1038, and the locking structure 103 also includes an indicator block 1035, which is used to indicate to the worker the position of the L-shaped wrench 1031 rotating and pressing down.

[0045] In this embodiment, two locking structures 103 are symmetrically arranged. When the luffing mechanism 1 needs to be installed, the connecting plate 1021 is snapped between the wedge groove and the second support plate. Then, the two locking structures 103 rotate the L-shaped wrench 1031 inward, push the guide sleeve 1036 down along the pressure rod 1032, and compress the return spring 1033 until the pin 1034 is inserted into the slot 1037. At this time, the first limiting device 1038 is locked, and the installation of the luffing mechanism 1 is completed.

[0046] In this embodiment, the linkage mechanism 101 includes two symmetrical connecting rods 1011, two second ear plate seats 1012, and a first driving device. The connecting rods 1011 are hinged to the same side of the L-shaped wrench and can rotate along the vertical plane. The second ear plate seats 1012 are mounted on the connecting rods 1011 and are used to connect the first driving device. The first driving device can drive the connecting rods 1011 to rise and fall. A cross plate is also included, connected between the two connecting rods 1011. Under the action of the cross plate, the two connecting rods 1011 can rise and fall synchronously. In this embodiment, an undulating hydraulic cylinder is used as the first driving device, installed between the two second ear plate seats 1012, to adjust the height of the double obstacle avoidance mowing device, ensuring the lifting of the equipment when working in trenches, vertical obstacles, wading, or other corner areas.

[0047] like Figure 4 As shown, the main disc cutter assembly 2 includes a disc cutter support 201 and five first disc cutter assemblies 202. Each first disc cutter assembly 202 includes a first drive shaft 2021, a first bearing seat 2022, and a cutting tool 2023. The first drive shaft 2021 is installed inside the first bearing seat 2022. Each cutting tool 2023 includes a circular cutter head seat 20231 and two cutting blades 20232. One end of the first drive shaft 2021 is fixedly connected to the center of the cutter head seat 20231. The cutting blades 202... 32 is detachably installed on the edge of the cutter head seat 20231 along the radial direction of the cutter head seat 20231. Two blades 20232 are symmetrically installed. The first bearing seats 2022 of the plurality of first disc cutter assemblies 202 are all fixedly connected to the disc cutter bracket 201. The disc cutter bracket 201 has three through holes in the middle and two brackets on the same side. Three first bearing seats 2022 are fixed at the middle through holes of the disc cutter bracket 201 and two are fixed at the brackets, so that the five first disc cutter assemblies 202 are distributed in a W shape.

[0048] The obstacle avoidance disc cutter group 4 has two obstacle avoidance disc cutters, which are symmetrically arranged on both sides. Each obstacle avoidance disc cutter includes a second disc cutter assembly 401, a connecting rod 402, a swing rod 403, and a second drive device 404. The second disc cutter assembly 401 includes a second drive shaft 4011, a second bearing seat 4012, and a cutter 2023. The second drive shaft 4011 is installed inside the second bearing seat 4012, and the cutter 2023 is coaxially and detachably connected to the second drive shaft 4011. The connecting rod 402 is fixedly connected between the second bearing seat 4012 and the nearest first bearing seat 2022. The disc cutter bracket 201 has a second drive device support 2011 on its side. The second drive device 404 is hinged to the second drive device support 2011. One end of the swing rod 403 is hinged to the output end of the second drive device 404, and the other end is hinged to the disc cutter bracket 201. The hinge point between the swing rod 403 and the second drive device 404 is connected to the middle of the connecting rod 402 by a spring.

[0049] The obstacle avoidance disc cutter assembly 4 also includes a cutter cover 405 and a second limiting device 406. The cutter cover 405 is installed outside the second disc cutter assembly 401, and the second limiting device 406 is installed on the main frame 6 to limit the swing amplitude of the connecting rod 402. In this embodiment, the obstacle avoidance angle on one side of the obstacle avoidance disc cutter assembly 4 is less than or equal to 30°.

[0050] The transmission mechanism 3 includes a third drive device 301, seven pulleys 302, and six belts 303. The seven pulleys 302 correspond one-to-one with the first disc cutter assembly 202 and the second disc cutter assembly 401, and are splinedly connected to one end of the first drive shaft 2021 or the second drive shaft 4011. The pulley 302 located in the middle is connected to the output end of the third drive device 301. The belts 303 are sequentially sleeved between two pulleys 302, enabling the third drive device 301 to drive all first disc cutter assemblies 202 and second disc cutter assemblies 401 when it is working. In this embodiment, the pulleys 302 are four-groove pulleys 302, and the belts 303 are V-shaped belts 303, making the transmission more stable.

[0051] The dual obstacle avoidance mowing device provided in this embodiment has a passive obstacle avoidance function. When the dual obstacle avoidance mowing device is working in a scenario with corner operation and a small turning radius, when the obstacle avoidance disc blade assembly 4 encounters an obstacle, it is squeezed. The spring at the hinge joint connecting the swing rod 403 and the second drive device 404 is stressed, and the obstacle avoidance disc blade assembly 4 moves along the direction of the force. It can cut weeds around the corner obstacle to the maximum extent. When it passes the obstacle, the obstacle avoidance disc blade assembly 4 returns to its original position under the action of the spring.

[0052] This embodiment also provides a dual obstacle avoidance lawn mowing device. Unlike Embodiment 1, in this embodiment, as shown... Figure 5 As shown, the stubble height adjustment device 5 includes a first pipe 501, a second pipe 502, a caster 503, and a bolt 504. The first pipe 501 is fixedly connected to the main frame 6. The second pipe 502 is sleeved inside the first pipe 501, and its bottom end is hinged to the axis of the caster 503. Both the first pipe 501 and the second pipe 502 have a row of corresponding through holes. By adjusting the depth of the second pipe 502 sleeved on the first pipe 501, and by locking the relative positions of the first pipe 501 and the second pipe 502 through the through holes of the bolt 504, the working height of the double obstacle avoidance mowing device can be adjusted.

[0053] like Figure 5As shown, the main frame 6 also includes a sliding shoe 602 and a protective chain 603. The sliding shoe 602 is installed on both sides of the working direction of the dual obstacle avoidance mowing device to support the dual obstacle avoidance mowing device, maintain the distance between the blade 2023 and the ground, and maintain the forward direction of the dual obstacle avoidance mowing device, thus playing a guiding role. The protective chain 603 is installed at the bottom front side of the working direction of the dual obstacle avoidance mowing device. A protective plate is also installed between the protective chain 603 and the blade 2023 to prevent gravel and soil from flying and to protect the blade 2023.

[0054] In this embodiment, the dual obstacle avoidance lawnmower further includes a monitoring system, an industrial control computer, and a solenoid valve assembly. The solenoid valve assembly is mounted on the second drive device 404. The monitoring system is used to collect information on obstacles around the dual obstacle avoidance lawnmower and transmit it to the industrial control computer. The industrial control computer is used to control the solenoid valve assembly to open / close the second drive device 404 based on the collected obstacle information, thereby driving the obstacle avoidance disc blade assembly 4 to avoid obstacles or return to its original position. Figure 9 As shown, in this embodiment, a lidar 701 mounted on the upper dual obstacle avoidance mowing device and millimeter-wave radars 702 distributed around the dual obstacle avoidance mowing device are used as a monitoring system, and a hydraulic cylinder is used as a second driving device 404.

[0055] The dual obstacle avoidance lawn mowing device provided in this embodiment has an active obstacle avoidance function, such as... Figure 8 As shown, in scenarios where the dual obstacle avoidance lawnmower operates at corners and has a small turning radius, when the lidar 701 and millimeter-wave radar 702 detect an insurmountable obstacle, they collect signals and transmit them to the industrial control computer. The industrial control computer then issues commands to the solenoid valve assembly, which controls the hydraulic cylinder to extend its piston. Figure 7 As shown, the active control swing lever 403 causes the obstacle avoidance disc cutter assembly 4 to rotate, performing grass cutting work around the obstacle to adapt to corner operation scenarios; when the lidar 701 and millimeter-wave radar 702 detect that the obstacle has been avoided, the solenoid valve group controls the hydraulic cylinder to actively retract the piston rod, causing the obstacle avoidance disc cutter assembly 4 to return to its initial position, as shown. Figure 6 As shown.

[0056] like Figure 11 and Figure 12 As shown, when operating at a right-angle corner, the dual obstacle avoidance lawnmower first moves along... Figure 11 As shown, it approaches the corner laterally, then retreats and then moves along... Figure 12 As shown, the blades approach the corner of the wall longitudinally. During operation, the obstacle avoidance disc assembly 4 actively or passively avoids obstacles to ensure close contact with the wall and maximize the mowing area.

[0057] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only used to explain the relative positional relationship and movement between components in a specific posture. If the specific posture changes, the directional indication will also change accordingly. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0058] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0059] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. A dual obstacle avoidance lawn mowing device, characterized in that, include: A variable amplitude mechanism (1) is installed on the rear side of the working direction of the dual obstacle avoidance mowing device to adjust the attitude of the mowing device. Main framework (6); The main blade assembly (2) is installed inside the main frame (6); The obstacle avoidance disc cutter group (4) is symmetrically installed on both sides of the main frame (6); The transmission mechanism (3) is connected to the main disc cutter group (2) and the obstacle avoidance disc cutter group (4) and is configured to drive the disc cutter to rotate; The stubble height adjustment device (5) is installed on the front side of the working direction of the double obstacle avoidance mowing device and is configured to adjust the vertical height of the stubble. The main disc cutter group (2) includes a disc cutter support (201) and a plurality of first disc cutter assemblies (202), wherein the first disc cutter assembly (202) includes a first drive shaft (2021), a first bearing seat (2022) and a cutting tool (2023). The first drive shaft (2021) is installed inside the first bearing housing (2022); The cutting tool (2023) includes a circular cutter head (20231) and a cutting blade (20232); One end of the first drive shaft (2021) is fixedly connected to the center of the cutter head holder (20231), and the blade (20232) is detachably installed on the edge of the cutter head holder (20231) along the radial direction of the cutter head holder (20231). The first bearing seats (2022) of the plurality of first disc cutter assemblies (202) are all fixedly connected to the disc cutter bracket (201). The obstacle avoidance disc cutter group (4) includes a second disc cutter assembly (401), a connecting rod (402), a swing rod (403), and a second drive device (404). The second disc cutter assembly (401) includes a second drive shaft (4011), a second bearing seat (4012), and a cutter (2023). The second drive shaft (4011) is installed inside the second bearing seat (4012). The cutter (2023) is coaxially and detachably connected to the second drive shaft (4011). The connecting rod (402) is fixedly connected between the second bearing seat (4012) and a closest first bearing seat (2022). The disc cutter bracket (201) is provided with a second drive device support (2011) on its side. The second drive device (404) is hinged to the second drive device support (2011). One end of the swing rod (403) is hinged to the output end of the second drive device (404), and the other end is hinged to the disc cutter bracket (201). The hinge point of the swing rod (403) and the second drive device (404) is connected to the middle of the connecting rod (402) through a spring. The obstacle avoidance disc cutter assembly (4) also includes a cutter cover (405) and a second limiting device (406). The cutter cover (405) is installed outside the second disc cutter assembly (401), and the second limiting device (406) is installed on the main frame (6) to limit the swing amplitude of the connecting rod (402).

2. The dual obstacle avoidance lawn mowing device according to claim 1, characterized in that: The amplitude-changing mechanism (1) includes: A connecting mechanism (102) is used to connect the luffing mechanism (1) to the main frame (6); A linkage mechanism (101) is mounted on a connecting mechanism (102) and is used to change the mowing amplitude of the dual obstacle avoidance mowing device; A locking structure (103) is provided on the connecting mechanism (102) for locking the luffing mechanism (1) and the main frame (6).

3. The dual obstacle avoidance lawn mowing device according to claim 2, characterized in that: The connecting mechanism (102) includes a connecting plate (1021) and a first ear plate seat (1022); The connecting plate (1021) has a wedge-shaped block at its upper end and a first support plate at its lower end. The main frame (6) is provided with a connecting component (601) on the rear side of the working direction of the dual obstacle avoidance mowing device, and includes a wedge groove at the upper end and a second support plate at the lower end; the wedge groove cooperates with the wedge block, the connecting plate (1021) can be snapped between the wedge groove and the second support plate, and the first ear plate seat (1022) is provided at the bottom of the wedge block for connecting the pitch cylinder to adjust the pitch angle of the dual obstacle avoidance mowing device; The locking structure (103) includes an L-shaped wrench (1031), a pressure rod (1032), a return spring (1033), a pin (1034), and a first limiting device (1038). The L-shaped wrench (1031) is hinged to the side of the connecting plate (1021) away from the main frame (6). The working end of the L-shaped wrench is provided with a guide sleeve (1036). The first support plate and the second support plate are provided with corresponding pin (1034) holes. The pin (1034) hole of the first support plate is provided with a slot (1037). The pin (1034) is inserted into the slot (1037) along the side close to the L-shaped wrench (1031). The top of the pin (1034) is provided with a limiting platform. The pressure rod (1032) is hinged to the upper end of the limiting platform. The reset spring (1033) is sleeved on the outside of the pressure rod (1032), and the bottom end of the reset spring (1033) is fixedly connected to the bottom end of the pressure rod (1032). The guide sleeve (1036) is sleeved on the outside of the pressure rod (1032) and abuts against the upper end of the reset spring (1033). The first limiting device (1038) is mounted on the pressure rod to limit the relative position of the guide sleeve (1036) and the pressure rod (1032); and, The linkage mechanism (101) includes a link (1011), a second lug seat (1012), and a first drive device; The connecting rod (1011) is hinged to the same side of the L-shaped wrench and can rotate along the vertical plane. The second ear plate seat (1012) is installed on the connecting rod (1011) and is used to connect the first driving device. The first driving device can drive the connecting rod (1011) to rise and fall.

4. The dual obstacle avoidance lawn mowing device according to claim 1, characterized in that: The transmission mechanism (3) includes a third drive device (301), multiple pulleys (302) and multiple belts (303). Among them, the plurality of pulleys (302) correspond one-to-one with the first disc cutter assembly (202) and the second disc cutter assembly (401), and are detachably connected to one end of the first drive shaft (2021) or the second drive shaft (4011), and one of the pulleys (302) is connected to the output end of the third drive device (301); and, The belt (303) is fitted between two pulleys (302); The third drive unit (301) is configured to drive all the first disc cutter assemblies (202) and the second disc cutter assemblies (401) to work.

5. The dual obstacle avoidance lawn mowing device according to claim 1, characterized in that: The stubble height adjustment device (5) includes a first pipe fitting (501), a second pipe fitting (502), a caster (503), and a bolt (504); The first pipe fitting (501) is fixedly connected to the main frame (6), and the second pipe fitting (502) is sleeved inside the first pipe fitting (501), with its bottom end hinged to the axis of the caster (503); and, The first pipe (501) and the second pipe (502) each have a row of corresponding through holes. By adjusting the depth of the second pipe (502) fitted onto the first pipe (501), and by locking the relative positions of the first pipe (501) and the second pipe (502) with bolts (504) passing through the through holes on the first pipe (501) and the second pipe (502), the working height of the double obstacle avoidance mowing device can be adjusted.

6. The dual obstacle avoidance lawn mowing device according to claim 1, characterized in that: The main frame (6) also includes a slipper (602) and a protective chain (603); The slippers (602) are installed on both sides of the working direction of the dual obstacle avoidance mowing device, configured to support the dual obstacle avoidance mowing device, maintain the distance between the blades (2023) and the ground, and maintain the forward direction of the dual obstacle avoidance mowing device; and, The protective chain (603) is installed at the bottom front of the working direction of the dual obstacle avoidance mowing device to protect the blade (2023).

7. The dual obstacle avoidance lawn mowing device according to claim 1, characterized in that: The dual obstacle avoidance mowing device also includes a monitoring system, an industrial control computer, and a solenoid valve assembly; The solenoid valve assembly is mounted on the second drive device (404); The monitoring system is configured to collect information on obstacles around the dual obstacle avoidance lawnmower and transmit it to an industrial control computer; and The industrial control computer is configured to control the solenoid valve group to open / close the second drive device (404) according to the collected obstacle information, so as to drive the obstacle avoidance disc cutter group (4) to avoid obstacles or restore.

8. A method for operating a dual obstacle avoidance mowing device as described in any one of claims 1-7, characterized in that, include: In its initial state, the mowing device moves forward along the working direction. When encountering an obstacle, the obstacle avoidance blade assembly is squeezed and moves along the direction of the squeeze. As the mowing device continues to advance, the obstacle avoidance blade assembly mows the grass around the obstacle. After passing through an obstacle, the obstacle avoidance disc assembly is reset by the action of the spring, returning to its initial state.

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