Intelligent mower and control method

Abstract

The invention discloses an intelligent mower and a control method, and relates to the field of mower processing. According to the scheme, the mowing vehicle comprises a vehicle body and further comprises a mowing mechanism assembled at the bottom of the vehicle body and used for mowing; the grass clippings recycling assembly is assembled at the bottom of the vehicle body, a collecting box is assembled at the tail of the vehicle body, and the grass clippings recycling assembly is used for recycling grass clippings cut by the mowing mechanism into the collecting box; a control box; the device is assembled on the vehicle body and used for analyzing the grass clippings recycling amount. The grass clippings recycling assembly is assembled at the bottom of the vehicle body, a flow channel is formed in the vehicle body through rotation of the sweeping mechanism and flow guiding of the impeller on air, the grass clippings are recycled into the collecting box to be stored, and excessive grass clippings are prevented from being reserved.

Description

Technical Field

[0001] The present invention relates to the field of lawn mower processing, and in particular to an intelligent lawn mower and a control method thereof. Background Art

[0002] A lawn mower is a device used to trim lawns. Traditional lawn mowers are mainly driven by electric motors and fuel engines, and the cutter heads mainly include hard blades and soft ropes.

[0003] At present, lawn mowers produce grass clippings after mowing. If the grass clippings are not processed, if there are too many of them, it will cause oxygen deficiency in the lawn, hinder the photosynthesis of new grass leaves, and cause diseases due to accumulation and rot. However, if all grass clippings are removed, it will not only increase the cleaning burden, but also waste the nutrient resources that can be returned to the soil as natural fertilizer after the grass clippings naturally decompose. In the long run, it will easily lead to soil infertility and increase the cost of artificial fertilization. Therefore, how to deal with the amount of grass clippings left by lawn mowers so that they do not accumulate excessively and affect the health of the lawn, while fully utilizing their fertilizer value has become an urgent problem to be solved. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to propose an intelligent lawn mower and control method to achieve intelligent processing of grass clippings, intelligently judge the amount of grass clippings to be processed according to the environment, and avoid excessive grass clippings residue and excessive cleaning of grass clippings.

[0005] To achieve the above technical objectives, the present invention provides an intelligent lawn mower, comprising a body, characterized in that it also includes: A mowing mechanism, mounted on the bottom of the vehicle body, for mowing grass; A grass clippings recovery assembly is mounted on the bottom of the vehicle body. A collection box is mounted on the rear of the vehicle body. The grass clippings recovery assembly is used to recover grass clippings cut by the mowing mechanism into the collection box. The control box is mounted on the vehicle body and is used to analyze the amount of grass clippings recovered.

[0006] Preferably, the mowing mechanism includes a flower shaft, a cutter head assembly, a ratchet and a drive assembly, the ratchet is rotatably connected to the vehicle body, the flower shaft passes through the middle of the ratchet, the drive assembly is assembled on the vehicle body, and the cutter head assembly is assembled at the bottom of the flower shaft.

[0007] Preferably, the mowing mechanism also includes an electric push rod and a mowing rope, the electric push rod is fixed on the vehicle body, and a connecting rod is fixed to the output end of the electric push rod, the end of the connecting rod is rotatably connected to the end of the flower axis; the mowing rope is fixed on the cutter head assembly.

[0008] Preferably, the driving assembly includes a first motor and a driving gear, the first motor is fixed to the vehicle body, the output end of the first motor is fixed with a driving gear, and the driving gear is engaged with a ratchet.

[0009] Preferably, the cutter head assembly includes a fixed seat, a positioning seat, a fixed cover plate and a fixing bolt. The outer surface of the fixed seat is provided with a guide groove and a limit groove. The outer surface of the positioning seat is fixed with a limit block, and the limit block is engaged with the limit groove. The fixed cover plate is fixedly connected to the positioning seat by a fixing bolt.

[0010] Preferably, wheels are rotatably connected to both sides of the vehicle body, and armrests are hinged to the sides of the vehicle body.

[0011] Preferably, the grass clippings recovery assembly includes a fixed plate, a cleaning mechanism, a cleaning rake and an impeller, the fixed plate is fixed in the vehicle body, the cleaning mechanism and the impeller are both rotatably connected to the fixed plate, and the cleaning rake is fixed to the side of the cleaning mechanism.

[0012] Preferably, the grass clippings recovery assembly also includes a second motor, a first transmission shaft, a second transmission shaft and a driven gear. The second motor is fixed to the bottom of the fixed plate. The output end of the second motor is fixed with an active bevel gear. The first transmission shaft and the second transmission shaft are both fixed to the fixed plate. The first transmission shaft is rotatably connected with the transmission bevel gear and the transmission gear. The outer surface of the second transmission shaft is rotatably connected with the reduction gear. The end of the impeller is fixed with a driven bevel gear, and the driven bevel gear is meshed with the transmission bevel gear. The transmission gear is meshed with the reduction gear. The end of the cleaning mechanism is fixed with a driven gear, and the reduction gear is meshed with the driven gear.

[0013] Preferably, the control box includes: A first acquisition module, used for acquiring physical data; The second acquisition module is used to collect cloud data; The grass clippings determination module is used to input physical data and cloud data into the trained grass clippings determination model and output the recovery rate value; The control module adjusts the recycling rate of the recycling component based on the recycling rate value.

[0014] Preferably, the physical data includes moisture value and grass clipping length, the cloud data includes current and future environmental data, and the environmental data includes rainfall rate.

[0015] It can be seen from the above technical solutions that this application has the following beneficial effects: 1: By assembling a grass clippings recovery component at the bottom of the vehicle body, the cleaning mechanism rotates, and the impeller guides the air, a flow channel is formed in the vehicle body, and the grass clippings are recovered and stored in the collection box to avoid excessive grass clippings.

[0016] 2: By equipping the control box, the first acquisition module and the second acquisition module are used to collect physical data and cloud data respectively. According to the length of grass clippings generated by the current mowing, the current humidity and future rainfall conditions, etc., the required amount of weeding is intelligently analyzed, and then the speed of the cleaning mechanism is controlled to control the amount of grass clippings recovered, avoiding excessive or insufficient processing of grass clippings, which is conducive to lawn growth. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0018] Figure 1 A schematic diagram of the overall structure of an intelligent lawn mower provided by the present invention; Figure 2 A schematic cross-sectional view of an intelligent lawn mower provided by the present invention; Figure 3 A schematic diagram of the overall structure of a mowing mechanism of an intelligent lawn mower provided by the present invention; Figure 4 A schematic diagram of the exploded structure of a mowing mechanism of an intelligent lawn mower provided by the present invention; Figure 5 A schematic diagram of the overall structure of a grass clippings recovery assembly of an intelligent lawn mower provided by the present invention; Figure 6 This is a schematic diagram of the overall structure of a grass clippings recovery assembly of an intelligent lawn mower provided by the present invention; Figure 7 A schematic diagram of the overall structure of a collection box of an intelligent lawn mower provided by the present invention; Figure 8 This is a schematic structural diagram of a control box of an intelligent lawn mower provided by the present invention.

[0019] Description of the drawings: 1. Vehicle body; 11. Handrail; 12. Wheel; 2. Mowing mechanism; 21. Flower axis; 22. Cutter head assembly; 221. Fixed seat; 2211. Guide groove; 2212. Limiting groove; 222. Positioning seat; 2221. Limiting block; 223. Fixed cover plate; 224. Fixing bolt; 23. Ratchet; 24. Driving assembly; 241. First motor; 242. Driving gear; 25. Electric push rod; 251. Connecting rod; 26. Mowing rope; 3. Grass clippings recovery assembly; 31. Fixed plate; 32. Cleaning Mechanism; 321, cleaning arm; 3211, waist groove; 322, cleaning head; 323, synchronous pulley; 324, synchronous belt; 3221, limit bolt; 33, cleaning rake; 34, impeller; 341, driven bevel gear; 35, second motor; 351, active bevel gear; 36, first transmission shaft; 361, transmission bevel gear; 362, transmission gear; 37, second transmission shaft; 371, reduction gear; 38, driven gear; 4, collection box; 42, guide rail; 421, guide roller; 43, sealing plate; 44, handle. DETAILED DESCRIPTION

[0020] The following description is merely illustrative in nature and is not intended to limit the present disclosure, its applications, or uses. It should be understood that throughout the drawings, identical or similar reference numerals indicate identical or similar parts and features. The drawings merely schematically illustrate the concepts and principles of the embodiments of the present disclosure and do not necessarily depict the specific dimensions and proportions of the various embodiments of the present disclosure. Certain portions of certain drawings may be exaggerated to illustrate relevant details or structures of the embodiments of the present disclosure.

[0021] Example 1, see Figure 1 and Figure 7 As shown, an intelligent lawn mower includes a body 1, both sides of which are rotatably connected to wheels 12, and armrests 11 are hinged to the sides of the body 1. For example, the body 1 can be pushed to move by holding the armrests 11.

[0022] Furthermore, it also includes a mowing mechanism 2, a grass clippings recovery component 3 and a collection box 4. The mowing mechanism 2 is assembled at the bottom of the vehicle body 1, and the mowing mechanism 2 is used for mowing grass; the grass clippings recovery component 3 is assembled at the bottom of the vehicle body 1, and the collection box 4 is assembled at the tail of the vehicle body 1, and the grass clippings recovery component 3 is used for recycling grass clippings cut by the mowing mechanism 2 into the collection box 4; illustratively, when the vehicle body 1 is moving, the mowing mechanism 2 mows the grass, and the grass clippings generated by mowing are recovered into the collection box 4 through the grass clippings recovery component 3.

[0023] Specifically, the mowing mechanism 2 includes a flower shaft 21, a cutter head assembly 22, a ratchet 23 and a drive assembly 24. The ratchet 23 is rotatably connected to the vehicle body 1. The flower shaft 21 passes through the middle of the ratchet 23. The drive assembly 24 is assembled on the vehicle body 1, and the cutter head assembly 22 is assembled on the bottom of the flower shaft 21. For example, the ratchet 23 is driven by the drive assembly 24, and the ratchet 23 can drive the flower shaft 21 to rotate, and the flower shaft 21 can drive the cutter head assembly 22 to rotate to cut the lawn.

[0024] For more details, see Figure 3 and Figure 4 As shown, the mowing mechanism 2 also includes an electric push rod 25 and a mowing rope 26. The electric push rod 25 is fixed on the vehicle body 1, and a connecting rod 251 is fixed to the output end of the electric push rod 25, and the end of the connecting rod 251 is rotatably connected to the end of the flower shaft 21; the mowing rope 26 is fixed on the cutter head assembly 22; illustratively, the height of the flower shaft 21 can be adjusted by driving the connecting rod 251 up and down by the electric push rod 25, thereby controlling the mowing height, and because the flower groove on the surface of the flower shaft 21 and the spline in the ratchet 23 cooperate, that is, when the flower shaft 21 moves up and down, it does not affect the transmission of the ratchet 23 to the flower shaft 21.

[0025] The drive assembly 24 includes a first motor 241 and a driving gear 242. The first motor 241 is fixed to the vehicle body 1. The driving gear 242 is fixed to the output end of the first motor 241, and the driving gear 242 is engaged with the ratchet 23. In some embodiments, the drive assembly 24 and the ratchet 23 are provided in two groups, with the two ratchet wheels 23 arranged one above the other and having opposite locking directions, i.e., the pawls in the ratchet wheels are installed in opposite directions. Ratchets are known in the art and will not be elaborated on here. Specifically, in some embodiments, the two sets of drive components 24 are respectively the first motor 241 and the fuel engine of this embodiment, and two driving gears 242 are provided, which are respectively used to link the first motor 241 and the fuel engine with the two ratchet wheels 23; the purpose is that the flower shaft 21 can be driven to rotate by both the first motor 241 and the fuel engine, and since the two ratchet wheels 23 are set in opposite locking directions, the first motor 241 and the fuel engine are prevented from interfering with each other.

[0026] For more details, see Figure 3 and Figure 4As shown, the cutter head assembly 22 includes a fixing seat 221, a positioning seat 222, a fixing cover plate 223 and a fixing bolt 224. The outer surface of the fixing seat 221 is provided with a guide groove 2211 and a limiting groove 2212. The outer surface of the positioning seat 222 is fixed with a limiting block 2221, and the limiting block 2221 is engaged with the limiting groove 2212. The fixing cover plate 223 is fixedly connected to the positioning seat 222 by a fixing bolt 224. For example, by inserting the limiting block 2221 into the guide groove 2211, and then rotating the positioning seat 222 so that the limiting block 2221 is lowered and stuck in the limiting groove 2212, and then the mowing rope 26 is placed on the fixing cover plate 223. The mowing rope 26 can be fixed by passing the fixing bolt 224 through the fixing cover 223 and the positioning seat 222 in sequence and tightening it so that the fixing bolt 224 is against the fixing seat 221; in some embodiments, if the fuel engine and the first motor 241 coexist, then through the design of the cutter head assembly 22, only a spare positioning seat 222 and a fixing bolt 224 with a different thread direction need to be matched, then it is only necessary to replace the positioning seat 222 and the fixing bolt 224 with the opposite thread direction as the fuel engine or the first motor 241, so as to avoid loosening of the thread during operation and facilitate the replacement of the mowing rope 26.

[0027] For further information, see Figure 5 and Figure 6 As shown, the grass clippings recovery assembly 3 includes a fixed plate 31, a cleaning mechanism 32, a cleaning rake 33 and an impeller 34. The fixed plate 31 is fixed in the vehicle body 1. The cleaning mechanism 32 and the impeller 34 are both rotatably connected to the fixed plate 31. The cleaning rake 33 is fixed to the side of the cleaning mechanism 32. The purpose is that the cleaning rake 33 is used to clean off the grass clippings adhered to the cleaning head 322.

[0028] The grass clippings recovery assembly 3 also includes a second motor 35, a first transmission shaft 36, a second transmission shaft 37 and a driven gear 38. The second motor 35 is fixed to the bottom of the fixed plate 31. The output end of the second motor 35 is fixed with an active bevel gear 351. The first transmission shaft 36 and the second transmission shaft 37 are both fixed to the fixed plate 31. The first transmission shaft 36 is rotatably connected to the transmission bevel gear 361 and the transmission gear 362. The outer surface of the second transmission shaft 37 is rotatably connected to the reduction gear 371. The end of the impeller 34 is fixed with a driven bevel gear 341, and the driven bevel gear 341 is connected to the transmission bevel gear 362. The teeth 361 are engaged, the transmission gear 362 is engaged with the reduction gear 371, and a driven gear 38 is fixed to the end of the cleaning mechanism 32. The reduction gear 371 is engaged with the driven gear 38. For example, the active bevel gear 351 is driven to rotate by the second motor 35, and the active bevel gear 351 drives the transmission bevel gear 361 to rotate. The transmission bevel gear 361 drives the first motor 241 to rotate while driving the transmission gear 362 to rotate through the first transmission shaft 36. The transmission gear 362 drives the driven gear 38 to rotate through the reduction gear 371, thereby driving the cleaning arm 321 to rotate.

[0029] It is worth mentioning that see Figure 5 and Figure 6 As shown, in some embodiments, two cleaning mechanisms 32 are provided, and the two cleaning mechanisms 32 are symmetrically distributed. The cleaning arms 321 in the two cleaning mechanisms 32 rotate synchronously through the synchronous pulley 323 and the synchronous belt 324.

[0030] Example 2, see Figure 8 As shown, an intelligent lawn mower also includes a control box, which is assembled on the vehicle body 1 and is used to analyze the amount of grass clippings recovered. The control box includes a first acquisition module, a second acquisition module, a grass clippings determination module and a control module. Each module and the second motor 35 are connected by wire and / or wireless.

[0031] Specifically, the first acquisition module is used to collect physical data, which includes humidity values ​​and grass clipping lengths. The first acquisition module includes a humidity detection unit and a grass clipping length detection unit. The humidity detection unit uses a humidity sensor or a probe with a humidity detection function, which is not specifically limited here. The grass clipping length detection unit uses an image recognition algorithm to make judgments. In some embodiments, the grass clipping length detection unit uses a high-definition camera to shoot grass clippings that pass through the mowing mechanism 2 and enter the collection box 4. A detection frequency is preset. Within this detection frequency, i grass clipping samples are obtained based on image recognition, where i is an integer greater than 1. The distance between the two pixels at the far end of i grass clippings is marked as the sub-grass clipping length, and the average of the i sub-grass clipping lengths is taken as the grass clipping length. It is worth mentioning that image recognition uses pixel grayscale values ​​to identify grass clippings. The specific method of measuring distance by pixels is a known technology and will not be elaborated on here. The purpose is to use the length and humidity of grass clippings as factors to determine whether the current lawn is covered with too much grass clippings. For example, if the grass clippings are long and the humidity is high, then too much grass clippings will cover the lawn, causing diseases due to accumulation and rot, and the cleaning efforts will need to be increased.

[0032] Furthermore, the second collection module is used to collect cloud data, which includes current and future environmental data, including rainfall rate. The cloud data can be obtained from a public weather platform on the Internet, such as a public meteorological station website, which is not specifically limited here; The goal is to make long-term predictions by incorporating factors such as rainfall rates into future environments, thereby improving the accuracy of determining the amount of grass clippings to be handled. For example, even if the current weather is sunny and suitable for a large amount of grass clippings, heavy rainfall in the near future will cause accumulation and rotting. Even if the current humidity is high, but the temperature rises in the near future and the humidity decreases, there is no need to remove grass clippings as they will not cause accumulation and rotting. It should be noted that the specific judgment weights of physical data and environmental data need to be determined by those skilled in the art based on actual needs and are not specifically limited here.

[0033] The grass clippings determination module is configured to input physical data and cloud data into a trained grass clippings determination model and output a recovery rate value. The grass clippings determination model is trained by collecting g sets of historical mowing data and recovery rate values ​​corresponding to the historical mowing data, where the historical mowing data is historical physical data and historical cloud data. Historical mowing data and recovery rate values ​​corresponding to the historical mowing data are used as a sample set, and the sample set is divided into a training set and a test set. The historical mowing data in the training set is used as the input of a grass clipping determination model, and the recovery rate values ​​in the training set are used as the output of the grass clipping determination model. The grass clipping determination model is trained to output a grass clipping determination model that meets a preset accuracy. It should be noted that the preset accuracy is determined by those skilled in the art based on actual needs. The grass clipping determination model is preferably a naive Bayes model or a support vector machine model. Historical mowing data is collected by technicians in this field in an experimental environment. Multiple sets of identical mowing data are simulated in sequence, and grass clippings are recycled using different recycling rate values. The growth state of the lawn at a certain moment in the future is observed. The technicians select an optimal recycling rate value corresponding to the growth state of the lawn and correspond to the set of mowing data. The optimal recycling rate value corresponds to the best lawn growth state. The mowing data in multiple sets are constantly changing, so that g sets of historical mowing data can be obtained.

[0034] The control module is used to adjust the recovery rate of the recovery component based on the recovery rate value. The control module of this embodiment is a motor drive and a decoder. The decoder stores a conversion formula of a specific relationship between the recovery rate value and the motor drive power signal, which is specifically calculated by a person skilled in the art based on actual conditions and is not specifically limited here. The power signal decoded by the decoder is transmitted to the motor drive, and the motor drive controls the second motor 35 based on the power signal, thereby changing the amount of grass clippings recovered. Because during the mowing process, since the vehicle body 1 is moving, the faster the recovery rate, the more grass clippings will be recovered when the vehicle body 1 passes a certain point, and vice versa.

[0035] During the mowing process, this embodiment controls the amount of grass clippings recovered by using current mowing data and future environmental data as decision factors, thereby ensuring maximum utilization of grass clippings and facilitating lawn growth.

[0036] The exemplary implementation schemes proposed in the present disclosure are described in detail above with reference to preferred embodiments. However, it will be understood by those skilled in the art that, without departing from the concept of the present disclosure, various modifications and variations can be made to the above-mentioned specific embodiments, and various technical features and structures proposed in the present disclosure can be combined in various ways without exceeding the scope of protection of the present disclosure, which is determined by the appended claims.

Claims

1. An intelligent lawn mower, comprising a body (1), characterized in that: Also includes: A mowing mechanism (2) is mounted on the bottom of the vehicle body (1) and is used for mowing grass; A grass clippings recovery component (3) is mounted on the bottom of the vehicle body (1), and a collection box (4) is mounted at the rear of the vehicle body (1). The grass clippings recovery component (3) is used to recover grass clippings cut by the mowing mechanism (2) into the collection box (4); A control box is mounted on the vehicle body (1) and is used to analyze the amount of grass clippings recovered.

2. The intelligent lawn mower according to claim 1, characterized in that: The mowing mechanism (2) comprises a flower shaft (21), a cutter head assembly (22), a ratchet (23) and a drive assembly (24); the ratchet (23) is rotatably connected to the vehicle body (1); the flower shaft (21) passes through the middle of the ratchet (23); the drive assembly (24) is mounted on the vehicle body (1); and the cutter head assembly (22) is mounted on the bottom of the flower shaft (21).

3. The intelligent lawn mower according to claim 2, characterized in that: The mowing mechanism (2) further comprises an electric push rod (25) and a mowing rope (26), wherein the electric push rod (25) is fixed to the vehicle body (1), and a connecting rod (251) is fixed to the output end of the electric push rod (25), and the end of the connecting rod (251) is rotatably connected to the end of the flower axis (21); the mowing rope (26) is fixed to the cutter head assembly (22).

4. The intelligent lawn mower according to claim 2, characterized in that: The driving assembly (24) comprises a first motor (241) and a driving gear (242). The first motor (241) is fixed to the vehicle body (1). The output end of the first motor (241) is fixed with a driving gear (242), and the driving gear (242) is meshed with a ratchet (23).

5. The intelligent lawn mower according to claim 2, characterized in that: The cutter head assembly (22) comprises a fixing seat (221), a positioning seat (222), a fixing cover plate (223) and a fixing bolt (224); a guide groove (2211) and a limiting groove (2212) are provided on the outer surface of the fixing seat (221); a limiting block (2221) is fixed on the outer surface of the positioning seat (222), and the limiting block (2221) is engaged with the limiting groove (2212); and the fixing cover plate (223) is fixedly connected to the positioning seat (222) via the fixing bolt (224).

6. The intelligent lawn mower according to claim 1, characterized in that: Both sides of the vehicle body (1) are rotatably connected to wheels (12), and the sides of the vehicle body (1) are hinged with armrests (11).

7. The intelligent lawn mower according to claim 1, characterized in that: The grass clippings recovery assembly (3) comprises a fixed plate (31), a cleaning mechanism (32), a cleaning rake (33) and an impeller (34); the fixed plate (31) is fixed in the vehicle body (1); the cleaning mechanism (32) and the impeller (34) are both rotatably connected to the fixed plate (31); and the cleaning rake (33) is fixed to the side of the cleaning mechanism (32).

8. The intelligent lawn mower according to claim 7, characterized in that: The grass clippings recovery assembly (3) further comprises a second motor (35), a first transmission shaft (36), a second transmission shaft (37) and a driven gear (38), wherein the second motor (35) is fixed to the bottom of the fixed plate (31), an active bevel gear (351) is fixed to the output end of the second motor (35), the first transmission shaft (36) and the second transmission shaft (37) are both fixed to the fixed plate (31), a transmission bevel gear (361) and a transmission gear (362) are rotatably connected to the first transmission shaft (36), a reduction gear (371) is rotatably connected to the outer surface of the second transmission shaft (37), a driven bevel gear (341) is fixed to the end of the impeller (34), and the driven bevel gear (341) is meshed with the transmission bevel gear (361), the transmission gear (362) is meshed with the reduction gear (371), and a driven gear (38) is fixed to the end of the cleaning mechanism (32), and the reduction gear (371) is meshed with the driven gear (38).

9. The intelligent lawn mower according to claim 1, characterized in that: The control box includes: A first acquisition module, used for acquiring physical data; The second acquisition module is used to collect cloud data; The grass clippings determination module is used to input physical data and cloud data into the trained grass clippings determination model and output the recovery rate value; The control module adjusts the recycling rate of the recycling component based on the recycling rate value.

10. The intelligent lawn mower according to claim 1, characterized in that: The physical data includes moisture value and grass clipping length, and the cloud data includes current and future environmental data, including rainfall rate.

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