Automatic obstacle avoidance dual-mode mowing robot

Abstract

The invention discloses an automatic obstacle avoidance dual-mode mowing robot. The automatic obstacle avoidance dual-mode mowing robot comprises a mobile carrier, a mowing execution mechanism, a power system, an obstacle avoidance device and a control module, the moving carrier moves through the bearing plate and the wheels, and the protection frame provides part protection. The mowing executing mechanism comprises a first cutting component and a second cutting component which are respectively used for primary cutting in a conventional mode and secondary rotary cutting in a reinforced mode; the power system drives the wheels and the cutting part; a sensor of the obstacle avoidance device detects an obstacle. And the control module receives the obstacle information, controls the robot to automatically avoid the obstacle, and regulates and controls the mowing execution mechanism to be switched between the two modes. In addition, the first cutting component adopts a spiral cutting roller, the second cutting component drives a cutting arm to rotate through a transmission plate, cut weeds can be flatly paved through an elastic blocking piece on the rear side of a bearing plate, a lower enclosure outer expansion part is matched with the cutting arm, and the mowing effect and efficiency are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of wire-controlled pedals, and in particular to an automatic obstacle-avoidance dual-mode lawn mowing robot. Background Art

[0002] In modern gardening and lawn maintenance, robotic lawnmowers, as highly efficient automated devices, are gaining widespread adoption. They can replace manual lawn mowing, significantly improving maintenance efficiency and reducing labor costs. However, in real-world lawn environments, obstacles such as trees, flower beds, and rocks often exist, requiring robotic lawnmowers to possess superior obstacle avoidance capabilities. Furthermore, different lawn conditions require varying mowing performance, such as regular lawn mowing versus intensive mowing in densely weeded areas. This requires robotic lawnmowers to be able to switch mowing modes accordingly. Therefore, how to enable robotic lawnmowers to achieve automatic obstacle avoidance in complex lawn environments and efficiently complete different mowing modes has become a critical challenge.

[0003] Currently, existing lawn mower robots on the market typically use a single sensor, such as an ultrasonic sensor or infrared sensor, to detect surrounding obstacles for obstacle avoidance. When the sensor detects an obstacle, the control module controls the robot's mobile carrier to adjust its movement trajectory to achieve obstacle avoidance. Most lawn mower robots only have a single cutting mode, generally using a single cutting component to cut weeds. For example, some lawn mower robots have a rotating cutting blade installed below the mobile carrier. As the robot moves forward, the blade rotates to cut the weeds. This single cutting mode is difficult to meet diverse mowing needs when faced with different lawn conditions.

[0004] In terms of mowing mode, a single cutting mode cannot be adjusted to the actual lawn conditions. When encountering a regular lawn with relatively sparse weeds, a single cutting component can complete the basic cutting task, but the efficiency is low. However, when encountering areas with dense weeds, a single cutting component cannot completely cut the weeds, requiring the robot to make multiple round trips. This not only wastes time and energy, but may also result in uneven distribution of cut weeds, affecting the lawn's appearance. In addition, existing mowing robots are not perfect in handling the cut weeds after the cutting process, and cannot ensure that the weeds are neatly spread on the lawn after cutting. Summary of the Invention

[0005] Purpose of the invention: In order to overcome the shortcomings of existing lawn mowing robots, such as limited obstacle avoidance ability (a single sensor is easily affected by environmental interference, resulting in obstacle avoidance failure), a single mowing mode (unable to adapt to different lawn density requirements) and poor weed spreading effect after cutting, the purpose of the present invention is to provide an automatic obstacle avoidance dual-mode lawn mowing robot. By setting a mobile carrier surrounding a protective frame, a mowing actuator with dual cutting components working together (including a dual-mode switching structure of a spiral cutting drum and secondary rotary cutting), an independently driven power system (a first drive device links the wheels and the first cutting component, and a second drive device independently drives the second cutting component), a multi-sensor coordinated obstacle avoidance device, and cooperating with a control module to intelligently control the movement trajectory and mowing mode, as well as an elastic baffle structure on the rear side of the carrier plate, precise obstacle avoidance and conventional and enhanced dual-mode efficient mowing in complex environments can be achieved, while ensuring that the weeds are neatly spread on the lawn after cutting.

[0006] Technical solution: The present invention provides an automatic obstacle avoidance dual-mode lawn mowing robot comprising: a mobile carrier, wherein the mobile carrier comprises a supporting plate at the bottom, and wheels are installed around the supporting plate to realize the movement of the robot; a surrounding protective frame is provided above the supporting plate to protect the components on the supporting plate; a lawn mowing actuator is installed under the supporting plate to perform lawn cutting actions, comprising a first cutting component and a second cutting component, wherein the first cutting component is arranged at the front end below the supporting plate and is used to first contact the weeds in the forward direction of the robot and then cut the weeds in the normal mode, and the second cutting component is arranged at the center of the front end below the supporting plate and performs a second rotation on the weeds cut by the first cutting component in the enhanced mode. Rotate and cut; a power system, which is arranged on the carrying plate and includes a group of first drive devices and second drive devices, the first drive device drives the wheels to rotate, and the wheels at the front of the robot are connected to the first cutting component for driving the first cutting component to cut the weeds, and the second drive device drives the second cutting component to rotate and cut; an obstacle avoidance device, which is arranged on the carrying plate and includes a group of obstacle avoidance sensors for detecting surrounding obstacle information; a control module, which is electrically connected to the power system, the mowing actuator and the obstacle avoidance device respectively, receives the obstacle information transmitted by the obstacle avoidance device, controls the power system to adjust the moving trajectory to automatically avoid obstacles, and at the same time regulates the mowing actuator to switch between at least the normal mode and the enhanced mode to complete the mowing operation. Four wheels are installed at the bottom of the load-bearing plate, each wheel is driven by a first drive device, preferably each wheel is equipped with an independent motor, the two rear wheels provide forward movement and steering, one of the front wheels is connected to the first cutting component by transmission, the protective frame is made of metal or high-strength engineering plastic, ultrasonic sensors are installed on the front and rear sides of the obstacle avoidance device, which can detect obstacles within 30 cm, infrared sensors are installed on both sides perpendicular to the direction of travel of the machine, the purpose is to identify boundary lines and short piles, and a laser radar is installed on the top to build a 3D environment map; Obstacle avoidance decision process Step 1: Receive real-time environmental data collected by obstacle avoidance sensors, including ultrasonic ranging, infrared detection, and lidar scanning data. Step 2: Determine whether the obstacle distance is less than the preset safety threshold. The preferred typical threshold is 30cm. If the condition is met, that is, when the obstacle distance is less than the threshold: Trigger the obstacle avoidance path planning algorithm and control the power system to adjust the direction of travel If the conditions are not met, i.e. there are no obstacles or the distance is safe: Maintain the current moving path and keep the wheels moving at the original speed.

[0007] Mowing mode decision process Step 1: Synchronously obtain lawn status data, including: lawn images collected by the machine vision system and the pressure sensor built into the first cutting component, Step 2: Analyze whether the weed density exceeds the set value. The preferred typical setting is 60% coverage. If the condition is met, that is, weed density > set value: Activate the enhanced cutting mode, start the second cutting component, and the first and second cutting components work together to perform secondary cutting. If the conditions are not met, i.e. the weeds are sparse or short: Maintain normal cutting mode, only run the first cutting part, and the second cutting part is on standby to save energy.

[0008] The obstacle avoidance threshold can be adaptively adjusted according to the terrain, and the weed density setting value supports user-defined modification through the APP.

[0009] Furthermore, in the present application, an automatic obstacle-avoiding dual-mode lawn mowing robot, the first cutting component includes a symmetrically arranged first bearing seat and a second bearing seat, a rotating shaft, a spiral cutting drum, a first gear, and a second gear. The first bearing seat and the second bearing seat have built-in bearings for supporting the rotating shaft. The rotating shaft passes through the first bearing seat, the second bearing seat and the spiral cutting drum, and is adapted to the bearings at both ends. The spiral cutting drum is fixedly connected to the middle of the rotating shaft for cutting weeds. A first gear is installed on the rotating shaft. The first gear is arranged on the outside of the first bearing seat and away from the second bearing seat. The output end of the first driving device is installed with a second gear. The second gear is a driving wheel and the first gear is a driven wheel. The spiral cutting drum is fixedly connected to the middle part of the rotating shaft. When the rotating shaft rotates, the spiral cutting drum rotates at high speed. Its unique spiral shape design can effectively increase the contact area with the weeds, and during the rotation process, the weeds are drawn in and cut, thereby achieving efficient weed cutting and improving mowing efficiency. The second gear installed at the output end of the first driving device serves as a driving wheel, meshing with the first gear on the rotating shaft, transmitting the power of the first driving device to the rotating shaft, and then driving the spiral cutting drum to rotate, thereby achieving effective transmission of power from the driving device to the cutting component, ensuring that the cutting component can obtain sufficient power to work, and preferably the diameter of the second gear is larger than the diameter of the first gear.

[0010] Furthermore, in the present application, an automatic obstacle-avoiding dual-mode lawn mowing robot, the spiral cutting drum includes an annular cutting frame and a mowing blade spaced axially apart. The annular cutting frame is provided with a blade retaining slot on its edge, and the mowing blade engages with the blade retaining slot. The blade retaining slot provided on the edge of the annular cutting frame provides a precise mounting position for the mowing blade. The retaining slot securely secures the mowing blade to the annular cutting frame. When the mowing blade becomes worn or damaged, the operator can quickly remove the old mowing blade from the retaining slot and replace it without the need for complex tools.

[0011] Furthermore, the present application discloses an automatic obstacle-avoiding dual-mode lawn mower robot, wherein the mowing blade is a curved scimitar blade with the cutting edge facing the direction of rotation. Compared to conventional straight-edged blades, the curved scimitar blade's unique curved cutting edge allows it to cut into weeds with a larger contact area and angle. Furthermore, the curved scimitar blade can scatter the cut weeds to the sides during cutting, preventing weed accumulation in the cutting area and affecting subsequent mowing operations and the aesthetics of the lawn.

[0012] Furthermore, in the automatic obstacle-avoiding dual-mode lawn mowing robot disclosed herein, the first cutting component includes a transmission plate, which is detachably connected to the output end of a second drive device. Cutting arms are connected to both ends of the transmission plate, and the second drive device drives the transmission plate to rotate, driving a pair of cutting arms for rotary cutting. The detachable connection between the transmission plate and the output end of the second drive device allows operators to quickly remove the transmission plate during equipment maintenance, overhaul, or component replacement. This facilitates inspection, repair, or replacement of the transmission plate, cutting arms, and second drive device, reducing maintenance complexity.

[0013] Furthermore, in the automatic obstacle-avoidance dual-mode lawn mower robot disclosed herein, elastic baffles are arranged at intervals on the rear side of the carrier plate. After the robot has cut the weeds, the elastic baffles act to spread them flat on the grass. The elastic baffles slightly swing and squeeze as the robot moves, evenly spreading the weeds on the grass and preventing them from clumping or being scattered.

[0014] Furthermore, the present application discloses an automatic obstacle-avoiding dual-mode lawnmower robot. A fence, whose contour matches the supporting plate, is provided below the supporting plate. The fence also includes an outward-expanding portion, corresponding to a pair of cutting arms, and exhibits an outwardly extending arc or trapezoidal structure. The fence conforms to the supporting plate contour, forming a protective area surrounding the mowing actuator. During operation, the first and second cutting components rotate at high speed to cut weeds. The fence effectively blocks weed splatter generated during the cutting process, confining the weeds to the area within the fence.

[0015] It can be seen from the above technical solution that the present invention has the following beneficial effects: 1. The automatic obstacle-avoiding dual-mode lawn mower robot described in this invention utilizes a mowing actuator and intelligent mode switching mechanism that coordinates dual cutting components to achieve efficient mowing in both conventional and enhanced modes, precisely adapting to the cutting requirements of different weed densities. Through a multi-sensor fusion obstacle avoidance device and an adaptive obstacle avoidance decision-making algorithm, the robot significantly improves obstacle recognition accuracy and obstacle avoidance reliability in complex environments, avoiding the problem of obstacle avoidance failure caused by environmental interference with a single sensor. Furthermore, an elastic baffle structure on the rear side of the load-bearing plate ensures that weeds are evenly spread on the grass after cutting, improving the aesthetics of the lawn. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a first-person perspective diagram of an automatic obstacle-avoidance dual-mode lawn mowing robot according to the present invention; Figure 2 This is a schematic diagram of a second perspective of an automatic obstacle avoidance dual-mode lawn mowing robot according to the present invention; Figure 3 for Figure 2 Enlarged schematic diagram of area A in the middle.

[0017] Description of the accompanying drawings: 1-mobile carrier, 11-carrying plate, 111-elastic baffle, 112-enclosure, 1121-extension part, 12-wheel, 13-protection frame; 2-mowing actuator, 21-first cutting member, 211-first bearing seat, 212-second bearing seat, 213-rotating shaft, 214-spiral cutting drum, 2141-annular cutting frame, 21411-blade slot, 2142-mowing blade, 215-first gear, 216-second gear, 22-second cutting member, 221-transmission plate, 222-cutting arm; 3-power system, 31-first drive device, 32-second drive device; 4-Obstacle avoidance device, 41-Obstacle avoidance sensor. DETAILED DESCRIPTION

[0018] The present invention will be further explained below with reference to the accompanying drawings and specific embodiments.

[0019] like Figure 1-3 As shown, the lawn mowing robot of this embodiment includes a mobile carrier 1, a lawn mowing actuator 2, a power system 3, an obstacle avoidance device 4 and a control module (not marked in the figure), and the corresponding structural position of each component is clearly indicated by the reference numerals.

[0020] 1. Mobile carrier structure The bottom of the mobile carrier 1 is a rectangular carrier plate 11, with four wheels 12 mounted at its corners (two front and two rear). The front left wheel 12 is linked to the first cutting element 21 via a transmission mechanism. A protective frame 13 (metal) surrounds the carrier plate 11 to protect the internal power system 3 and control module. Elastic baffles 111 (rubber) are evenly arranged on the rear side of the carrier plate 11, and a retaining bar 112 is fixed to the bottom edge. The front end of the retaining bar 112 has an outwardly extending arc-shaped portion 1121, corresponding to the position of the cutting arm 222 of the second cutting element 22.

[0021] 2. Mowing executive mechanism The mowing actuator 2 is installed below the carrier plate 11 and includes dual cutting components: 1. First cutting component 21 (normal mode) Located at the front end below the carrier plate 11, it comprises a symmetrically arranged first and second bearing blocks 211 and 212, both of which contain built-in bearings supporting a rotating shaft 213. A spiral cutting drum 214 is fixed to the center of the rotating shaft 213. Annular cutting frames 2141 are arranged axially on the outer surface of the drum. Each annular cutting frame 2141 has a blade retaining slot 21411 at its edge, which secures a mowing blade 2142 (a curved blade with its cutting edge facing the direction of rotation). One end of the rotating shaft 213 extends from the bearing block and is mounted with a first gear 215, which meshes with the second gear 216 (driving wheel) of the power system 3. 2. Second cutting member 22 (enhanced mode) Located at the front center below the carrier plate 11, it is detachably connected to the output end of the second drive unit 32 via a transmission plate 221. Cutting arms 222 are vertically fixed to both ends of the transmission plate 221. When the second drive unit 32 drives the transmission plate 221 to rotate, the cutting arms 222 perform a circular motion around the transmission plate 221, performing a secondary rotary cut on the weeds cut by the first cutting member 21.

[0022] 3. Powertrain The power system 3 is integrated above the carrier plate 11 and includes: The first driving device 31 uses two independent motors to drive the front wheel 12 and the rear wheel 12 (the rear wheels are responsible for steering) respectively, and at the same time drives the rotating shaft 213 of the first cutting component 21 to rotate through the second gear 216 (the diameter of the second gear 216 is larger than the first gear 215, forming a speed-increasing transmission). The second driving device 32 is driven by an independent motor and is activated only in the enhanced mode. It drives the cutting arm 222 to rotate at high speed through the transmission plate 221 .

[0023] 4. Obstacle Avoidance Device and Control Logic The obstacle avoidance device 4 is installed at the front end and both sides of the supporting plate 11 and includes: Ultrasonic sensors (front and rear): real-time detection of obstacles within 30cm; Infrared sensor (on both sides): identifies lawn boundaries and short stakes; LiDAR top): Build a 3D environment map of the lawn. Control module workflow: 1. Obstacle avoidance process: The laser radar and ultrasonic sensor collect data in real time. When the obstacle distance is less than 30cm, the control module triggers the path planning algorithm and adjusts the wheel speed of the first drive device 31 to make the robot turn to avoid the obstacle; when there are no obstacles, it maintains straight line movement. 2. Mowing mode switch: The machine vision system (not marked in the figure) collects lawn images and combines the data from the built-in pressure sensor of the first cutting component 21 to determine the weed density: If the weed coverage rate is greater than 60%, the enhanced mode is activated: the first drive device 31 drives the spiral cutting drum 214 to cut, and at the same time the second drive device 32 starts the cutting arm 222 to perform secondary rotary cutting; If the weeds are sparse, only the normal mode is operated: the first driving device 31 drives the spiral cutting drum 214 to operate alone, and the second driving device 32 is on standby. 5. Work Process Example When the robot moves along the lawn, the front wheels drive the spiral cutting drum 214 of the first cutting component 21 to rotate, and the mowing blade 2142 reels in and cuts the weeds through spiral motion. If dense grass is encountered, the control module activates the second cutting component 22, and the cutting arm 222 rotates at high speed in the area of ​​the outer extension 1121 of the enclosure 112 to completely cut off the missed weeds. The cut weeds are evenly flattened by the elastic baffle 111 on the rear side of the supporting plate 11 to prevent accumulation. During the movement, the laser radar scans the environment in real time, the ultrasonic sensor detects close obstacles, and the control module adjusts the movement trajectory in real time to achieve automatic obstacle avoidance.

[0024] The technical principles of the present invention have been described above in conjunction with specific embodiments. These descriptions are intended solely to illustrate the principles of the present invention and are not to be construed in any way as limiting the scope of protection of the present invention. Based on the explanations herein, those skilled in the art will be able to conceive of other specific embodiments of the present invention without inventive effort, and such embodiments will fall within the scope of protection of the present invention.

Claims

1. An automatic obstacle avoidance dual-mode lawn mowing robot, characterized in that: include: A mobile carrier (1), the mobile carrier (1) comprising a bottom supporting plate (11), the supporting plate (11) being provided with wheels (12) around its periphery for enabling movement of the robot; a surrounding protective frame (13) being provided above the supporting plate (11) for protecting components on the supporting plate (11); A mowing actuator (2) is installed below the carrier plate (11) and is used to perform a lawn cutting action. The mowing actuator comprises a first cutting component (21) and a second cutting component (22). The first cutting component (21) is arranged at the front end below the carrier plate (11) and is used to first contact the weeds in the forward direction of the robot and then cut the weeds in a normal mode. The second cutting component (22) is arranged at the center of the front end below the carrier plate (11) and is used to perform a secondary rotary cutting on the weeds cut by the first cutting component (21) in an enhanced mode. A power system (3) is provided on the supporting plate (11), comprising a first drive device (31) and a second drive device (32), wherein the first drive device (31) drives the wheel (12) to rotate, the wheel (12) at the front of the robot is in transmission connection with the first cutting component (21), and drives the first cutting component (21) to cut the weeds, and the second drive device (32) drives the second cutting component (22) to rotate and cut; An obstacle avoidance device (4), the obstacle avoidance device (4) being arranged on the supporting plate (11) and comprising a set of obstacle avoidance sensors (41) for detecting information of surrounding obstacles; The control module is electrically connected to the power system (3), the mowing actuator (2), and the obstacle avoidance device (4), receives obstacle information transmitted by the obstacle avoidance device (4), controls the power system (3) to adjust the movement trajectory to automatically avoid obstacles, and simultaneously regulates the mowing actuator (2) to switch between at least a normal mode and an enhanced mode to complete the mowing operation.

2. The automatic obstacle avoidance dual-mode lawn mowing robot according to claim 1, characterized in that: The first cutting component (21) comprises a symmetrically arranged first bearing seat (211) and a second bearing seat (212), a rotating shaft (213), a spiral cutting drum (214), a first gear (215), and a second gear (216). The first bearing seat (211) and the second bearing seat (212) are provided with built-in bearings for supporting the rotating shaft (213). The rotating shaft (213) is provided through the first bearing seat (211), the second bearing seat (212), and the spiral cutting drum (214), with both ends adapted to the bearings. The spiral cutting drum (214) is fixedly connected to the middle of the rotating shaft (213) for cutting weeds. A first gear (215) is installed on the rotating shaft (213). The first gear (215) is provided outside the first bearing seat (211) and away from the second bearing seat (212). A second gear (216) is installed at the output end of the first driving device (31). The second gear (216) is a driving wheel, and the first gear (215) is a driven wheel.

3. The automatic obstacle avoidance dual-mode lawn mowing robot according to claim 2, characterized in that: The spiral cutting drum (214) comprises an annular cutting frame (2141) and a mowing blade (2142) that are spaced apart in the axial direction. A blade clamping slot (21411) is provided on the edge of the annular cutting frame (2141), and the mowing blade (2142) is clamped with the blade clamping slot (21411).

4. The automatic obstacle avoidance dual-mode lawn mowing robot according to claim 3, characterized in that: The mowing blade (2142) is an arc-shaped curved blade with the cutting edge facing the direction of rotation.

5. The automatic obstacle avoidance dual-mode lawn mowing robot according to claim 1, characterized in that: The second cutting component (22) comprises a transmission plate (221), the transmission plate (221) being detachably connected to the output end of the second driving device (32), the two ends of the transmission plate (221) being connected to cutting arms (222), and the second driving device (32) driving the transmission plate (221) to rotate and drive a pair of cutting arms (222) to rotate and cut.

6. The automatic obstacle avoidance dual-mode lawn mowing robot according to claim 1, characterized in that: Elastic baffles (111) are arranged at intervals in an array on the rear side of the carrier plate (11); after the robot has finished cutting the weeds, the weeds are flattened on the grass under the action of the elastic baffles (111).

7. The automatic obstacle avoidance dual-mode lawn mowing robot according to claim 5, characterized in that: A fence (112) is provided below the supporting plate (11), the profile of which matches the supporting plate (11), and the fence (112) is further provided with an outwardly extending portion (1121). The outwardly extending portion (1121) corresponds to a pair of cutting arms (222) and has an outwardly extending arc or trapezoidal structure.

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