Intelligent mower and control method

Abstract

The application discloses an intelligent mower and a control method, and relates to the field of mower processing. The following scheme is provided, which comprises a vehicle body, and further comprises: a mowing mechanism, which is assembled at the bottom of the vehicle body and is used for mowing; a grass clippings recycling assembly, which is assembled at the bottom of the vehicle body, the tail of the vehicle body is provided with a collection box, and the grass clippings recycling assembly is used for recycling the grass clippings cut by the mowing mechanism into the collection box; a control box; and a grass clippings recycling amount analysis device, which is assembled on the vehicle body. The grass clippings recycling assembly is assembled at the bottom of the vehicle body, the sweeping mechanism is rotated, air is guided by the impeller, a flow channel is formed in the vehicle body, the grass clippings are recycled into the collection box for storage, and the grass clippings are prevented from being stored in excess.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of lawn mower processing, in particular to an intelligent lawn mower and a control method. BACKGROUND

[0002] The lawn mower is an instrument for trimming the lawn. The traditional lawn mower mainly has two driving modes, i.e., a motor and a fuel engine. The cutter head mainly has two types, i.e., a hard blade and a soft rope.

[0003] At present, the lawn mower will generate grass clippings after mowing. If the grass clippings are not treated, too much grass clippings will cause the lawn to lack oxygen, hinder the photosynthesis of new grass leaves, and cause diseases caused by accumulation and decay.

[0004] However, if all the grass clippings are removed, not only the cleaning burden is increased, but also the nutrient resources of the grass clippings returned to the soil after natural decomposition are wasted, which will lead to soil infertility and increase the cost of artificial fertilization in the long run.

[0005] Therefore, at present, it is an urgent problem to be solved for the lawn mower to treat the residual amount of grass clippings so as to not only affect the health of the lawn but also fully utilize the fertilizer value of the grass clippings. SUMMARY

[0006] Therefore, the purpose of the present application is to provide an intelligent lawn mower and a control method to intelligently treat the grass clippings, intelligently judge the treatment amount of the grass clippings according to the environment, and avoid too much residual grass clippings and too much cleaning of the grass clippings.

[0007] To achieve the above technical purpose, the present application provides an intelligent lawn mower, which comprises a vehicle body, and is characterized in that further comprises:

[0008] A mowing mechanism is assembled at the bottom of the vehicle body and is used for mowing.

[0009] A grass clipping recovery assembly is assembled at the bottom of the vehicle body. A collection box is assembled at the tail of the vehicle body. The grass clipping recovery assembly is used for recovering the grass clippings cut by the mowing mechanism into the collection box.

[0010] A control box is assembled on the vehicle body and is used for analyzing the recovery amount of the grass clippings.

[0011] Preferably, the mowing mechanism comprises a flower shaft, a cutter head assembly, a ratchet wheel and a driving assembly. The ratchet wheel is rotationally connected with the vehicle body. The flower shaft penetrates the middle part of the ratchet wheel. The driving assembly is assembled on the vehicle body. The cutter head assembly is assembled at the bottom of the flower shaft.

[0012] Preferably, the mowing mechanism further comprises an electric push rod and a mowing rope. The electric push rod is fixed on the vehicle body. The output end of the electric push rod is fixed with a connecting rod. The end of the connecting rod is rotationally connected with the end of the flower shaft. The mowing rope is fixed on the cutter head assembly.

[0013] Preferably, the driving assembly comprises a first motor and a driving gear, the first motor is fixed on the vehicle body, the output end of the first motor is fixed with the driving gear, and the driving gear is engaged with the ratchet wheel.

[0014] Preferably, the tool head assembly comprises a fixing seat, a positioning seat, a fixing cover plate and a fixing bolt, the outer surface of the fixing seat is provided with a guide groove and a limiting groove, the outer surface of the positioning seat is fixed with a limiting block, the limiting block is clamped with the limiting groove, and the fixing cover plate is fixedly connected with the positioning seat through the fixing bolt.

[0015] Preferably, the vehicle body is rotatably connected with wheels on both sides, and the vehicle body is hingedly connected with handrails on the side surface.

[0016] Preferably, the grass clippings recycling assembly comprises a fixing plate, a cleaning mechanism, a cleaning rake and an impeller, the fixing plate is fixed in the vehicle body, the cleaning mechanism and the impeller are rotatably connected with the fixing plate, and the cleaning rake is fixed on the side surface of the cleaning mechanism.

[0017] Preferably, the grass clippings recycling assembly further comprises a second motor, a first transmission shaft, a second transmission shaft and a driven gear, the second motor is fixed on the bottom of the fixing plate, the output end of the second motor is fixed with a driving bevel gear, the first transmission shaft and the second transmission shaft are both fixed on the fixing plate, the first transmission shaft is rotatably connected with a transmission bevel gear and a transmission gear, the outer surface of the second transmission shaft is rotatably connected with a reduction gear, the end of the impeller is fixed with a driven bevel gear, the driven bevel gear is engaged with the transmission bevel gear, the transmission gear is engaged with the reduction gear, the end of the cleaning mechanism is fixed with a driven gear, and the reduction gear is engaged with the driven gear.

[0018] Preferably, the control box comprises:

[0019] a first collection module for collecting physical data;

[0020] a second collection module for collecting cloud data;

[0021] a grass clippings determination module for inputting the physical data and the cloud data into a trained grass clippings determination model and outputting a recycling rate value;

[0022] a control module for adjusting the recycling rate of the recycling assembly based on the recycling rate value.

[0023] Preferably, the physical data comprises humidity value and grass clippings length, the cloud data comprises current and future environmental data, and the environmental data comprises rainfall rate.

[0024] From the above technical solutions, the application has the following beneficial effects:

[0025] 1. By assembling the grass clippings recycling assembly at the bottom of the vehicle body, using the rotating of the cleaning mechanism and the air guide of the impeller, the flow channel is formed in the vehicle body, the grass clippings are recycled into the storage box, and the excessive grass clippings are avoided.

[0026] 2. By assembling the control box, using the first collection module and the second collection module to collect physical data and cloud data respectively, according to the length of the grass clippings generated by the current mower, the current humidity and the future rainfall, etc., the required weeding amount is intelligently analyzed, and the rotating speed of the cleaning mechanism is controlled to control the amount of recycled grass clippings, so that the excessive or insufficient treatment of the grass clippings is avoided, and the growth of the lawn is beneficial. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description only the embodiments of the present application, and for those skilled in the art, without creative labor, other drawings can also be obtained according to the provided drawings.

[0028] Figure 1 The overall structure schematic diagram of the intelligent mower provided by the present application is provided.

[0029] Figure 2 The overall structure schematic diagram of the intelligent mower provided by the present application is provided.

[0030] Figure 3 The overall structure schematic diagram of the intelligent mower provided by the present application is provided.

[0031] Figure 4 The overall structure schematic diagram of the intelligent mower provided by the present application is provided.

[0032] Figure 5 The overall structure schematic diagram of the intelligent mower provided by the present application is provided.

[0033] Figure 6 The overall structure schematic diagram of the intelligent mower provided by the present application is provided.

[0034] Figure 7 The overall structure schematic diagram of the intelligent mower provided by the present application is provided.

[0035] Figure 8 The overall structure schematic diagram of the intelligent mower provided by the present application is provided.

[0036] BRIEF DESCRIPTION OF DRAWINGS: 1, vehicle body; 11, armrest; 12, wheel; 2, mowing mechanism; 21, flower shaft; 22, cutter head assembly; 221, fixing seat; 2211, guide groove; 2212, limiting groove; 222, positioning seat; 2221, limiting block; 223, fixing cover plate; 224, fixing bolt; 23, ratchet wheel; 24, driving assembly; 241, first motor; 242, driving gear; 25, electric push rod; 251, connecting rod; 26, mowing rope; 3, grass clippings recycling assembly; 31, fixing plate; 32, cleaning mechanism; 321, cleaning arm; 3211, waist round groove; 322, cleaning head; 323, synchronous pulley; 324, synchronous belt; 3221, limiting bolt; 33, cleaning rake; 34, impeller; 341, driven bevel gear; 35, second motor; 351, driving 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

[0037] The following description is merely exemplary in nature and is not intended to limit the present disclosure, application and uses. It should be understood that throughout the drawings, the same or like reference numerals are used to depict the same or like components and features. The various drawings merely schematically represent the ideas and principles of embodiments of the present disclosure and do not necessarily depict the specific dimensions of the various embodiments of the present disclosure and the proportions thereof. Certain portions in certain drawings can be exaggerated to illustrate the relevant details or structures of the embodiments of the present disclosure.

[0038] Embodiment 1, refer to Figure 1 and Figure 7 An intelligent mower, comprising a vehicle body 1, wheels 12 are rotatably connected to both sides of the vehicle body 1, an armrest 11 is hingedly connected to the side of the vehicle body 1, and the vehicle body 1 can be moved by holding the armrest 11.

[0039] Further, a mowing mechanism 2, a grass clippings recycling assembly 3 and a collection box 4 are further included, the mowing mechanism 2 is assembled at the bottom of the vehicle body 1 and is used for mowing; the grass clippings recycling assembly 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, the grass clippings recycling assembly 3 is used for recycling the grass clippings cut by the mowing mechanism 2 into the collection box 4; and the vehicle body 1 moves, the mowing mechanism 2 cuts the grass, and the grass clippings recycling assembly 3 recycles the grass clippings generated by the mowing into the collection box 4.

[0040] Specifically, the mowing mechanism 2 comprises a flower shaft 21, a cutter head assembly 22, a ratchet wheel 23 and a driving assembly 24, the ratchet wheel 23 is rotatably connected with the vehicle body 1, the flower shaft 21 penetrates through the middle part of the ratchet wheel 23, the driving assembly 24 is assembled on the vehicle body 1, and the cutter head assembly 22 is assembled at the bottom of the flower shaft 21; for example, the ratchet wheel 23 is driven by the driving assembly 24, the ratchet wheel 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.

[0041] More specifically, referring to Figure 3 and Figure 4 , the mowing mechanism 2 further comprises an electric push rod 25 and a mowing rope 26, the electric push rod 25 is fixed on the vehicle body 1, and the output end of the electric push rod 25 is fixed with a connecting rod 251, the end of the connecting rod 251 is rotatably connected with the end of the flower shaft 21; the mowing rope 26 is fixed on the cutter head assembly 22; for example, the electric push rod 25 drives the connecting rod 251 to move up and down, so as to adjust the height of the flower shaft 21, thereby controlling the mowing height, and since the surface groove of the flower shaft 21 and the spline in the ratchet wheel 23 are matched, the flower shaft 21 does not affect the transmission of the ratchet wheel 23 to the flower shaft 21 when moving up and down.

[0042] The driving assembly 24 comprises a first motor 241 and a driving gear 242, the first motor 241 is fixed on the vehicle body 1, the output end of the first motor 241 is fixed with the driving gear 242, and the driving gear 242 is engaged with the ratchet wheel 23; in some embodiments, the driving assembly 24 and the ratchet wheel 23 are provided as two groups, two ratchet wheels 23 are distributed up and down, and the locking directions of the two ratchet wheels 23 are opposite, that is, the claw installation directions of the ratchet wheels are opposite, and the ratchet wheel is a known disclosed technology, which will not be described in detail here;

[0043] Specifically, in some embodiments, the two groups of driving assemblies 24 are respectively the first motor 241 and the oil engine of the embodiment, the driving gear 242 is provided with two, which are respectively used for linking the first motor 241 and the oil engine with the two ratchet wheels 23; the purpose is that the first motor 241 and the oil engine can both drive the flower shaft 21 to rotate, and since the two ratchet wheels 23 with opposite locking directions are arranged, the first motor 241 and the oil engine are prevented from interfering with each other.

[0044] More specifically, referring to Figure 3 and Figure 4As shown, the cutter head assembly 22 comprises 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 which is engaged with the limiting groove 2212. The fixing cover plate 223 is fixedly connected with the positioning seat 222 through the fixing bolt 224. As an example, the limiting block 2221 is inserted into the guide groove 2211, and then the positioning seat 222 is rotated to make the limiting block 2221 drop into the limiting groove 2212. Then the grass rope 26 is placed between the fixing cover plate 223 and the positioning seat 222. The fixing bolt 224 is sequentially threaded through the fixing cover plate 223 and the positioning seat 222 and tightened to make the fixing bolt 224 abut against the fixing seat 221, so that the fixing of the grass rope 26 is completed. In some embodiments, if the oil engine and the first motor 241 coexist, only one positioning seat 222 and fixing bolt 224 with different thread directions are needed as a backup through the design of the cutter head assembly 22. Then only the positioning seat 222 and fixing bolt 224 with reverse thread direction are needed to replace the oil engine or the first motor 241, so that the thread loosening during work can be avoided, and the grass rope 26 can be conveniently replaced.

[0045] Further, referring to Figure 5 and Figure 6 As shown, the grass clippings recycling assembly 3 comprises a fixing plate 31, a cleaning mechanism 32, a cleaning rake 33 and an impeller 34. The fixing plate 31 is fixed in the vehicle body 1. The cleaning mechanism 32 and the impeller 34 are both rotationally connected with the fixing plate 31. The cleaning rake 33 is fixed to the side surface of the cleaning mechanism 32. The purpose is that the cleaning rake 33 is used to clean the grass clippings adhered to the cleaning head 322.

[0046] The grass clippings recycling assembly 3 further comprises 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 fixing plate 31. The output end of the second motor 35 is fixed with a driving bevel gear 351. The first transmission shaft 36 and the second transmission shaft 37 are both fixed to the fixing plate 31. The first transmission shaft 36 is rotationally connected with a transmission bevel gear 361 and a transmission gear 362. The outer surface of the second transmission shaft 37 is rotationally connected with a reduction gear 371. The end of the impeller 34 is fixed with a driven bevel gear 341 which is engaged with the transmission bevel gear 361. The transmission gear 362 is engaged with the reduction gear 371. The end of the cleaning mechanism 32 is fixed with the driven gear 38 which is engaged with the reduction gear 371. As an example, the driving bevel gear 351 is driven to rotate by the second motor 35. The driving 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.

[0047] It is worth mentioning that, referring to 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, and the cleaning arms 321 in the two cleaning mechanisms 32 rotate synchronously through synchronous pulleys 323 and synchronous belts 324.

[0048] Embodiment 2, referring to Figure 8 As shown, an intelligent mower further comprises a control box assembled on the vehicle body 1 for analyzing the amount of grass clippings collected, and the control box comprises a first acquisition module, a second acquisition module, a grass clippings determination module, and a control module, and each module and the second motor 35 are connected through wired and / or wireless connection.

[0049] Specifically, the first acquisition module is used to collect physical data, and the physical data includes humidity value and grass clippings length. The first acquisition module includes a humidity detection unit and a grass clippings length detection unit. The humidity detection unit uses a humidity sensor or a probe with humidity detection function, which is not limited here. The grass clippings length detection unit uses an image recognition algorithm to determine. In some embodiments, the grass clippings length detection unit uses a high-definition camera to shoot the grass clippings entering the collection box 4 through the mowing mechanism 2. A detection frequency is preset, and i grass clippings samples are obtained based on image recognition within the detection frequency. i is an integer greater than 1. The distance between the two pixels at the far end of the i grass clippings is marked as the sub-grass clippings length, and the average value of the i sub-grass clippings lengths is taken as the grass clippings length. It is worth mentioning that the image recognition uses the pixel gray value to identify the grass clippings. The specific pixel distance measurement method is a known technology, which will not be described in detail here.

[0050] The purpose is that the grass clippings length and humidity value can be used as a determining factor for whether the current lawn is covered with too much grass clippings. For example, if the grass clippings length is long and the humidity value is large, too much grass clippings will cover the lawn, causing disease due to accumulation and decay, so the cleaning effort needs to be increased.

[0051] Further, the second acquisition module is used to collect cloud data, and the cloud data includes current and future environmental data, and the environmental data includes rainfall rate. The cloud data can be obtained from the public weather platform on the Internet, such as the public weather station website, which is not limited here.

[0052] The purpose is that by adding factors such as rainfall rate in future environment, long-term prediction can be made to improve the accuracy of determining the amount of grass clippings processing. For example, even if the current weather is sunny and suitable for a large amount of grass clippings coverage, but a large amount of rainfall will occur in the near future, which will cause the problem of accumulation and decay. For example, even if the current humidity is large, but the temperature will rise and the humidity will decrease in the near future, so there is no need to clean too much grass clippings because the grass clippings will not cause the problem of accumulation and decay.

[0053] It should be noted that the specific determination weight of physical data and environmental data needs to be determined by those skilled in the art according to actual needs, and is not specifically limited here.

[0054] The grass clippings determination module is configured to input the physical data and the cloud data into the trained grass clippings determination model, and output the recycling rate value. The training method of the grass clippings determination model is to collect g groups of historical mowing data and recycling rate values corresponding to the historical mowing data. The historical mowing data is historical physical data and historical cloud data.

[0055] The historical mowing data and the recycling rate values corresponding to the historical mowing data are used as a sample set. 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 the grass clippings determination model, and the recycling rate value in the training set is used as the output of the grass clippings determination model. The grass clippings determination model is trained, and a grass clippings determination model meeting a preset accuracy is output. It should be noted that the preset accuracy is determined by those skilled in the art according to actual needs. The grass clippings determination model is preferably a Naive Bayes model or a support vector machine model.

[0056] The historical mowing data is collected by those skilled in the art in an experimental environment. A plurality of groups of identical mowing data are simulated in sequence. The grass clippings are recycled with a failed recycling rate value. The growth state of the lawn at a future time is observed. A technician selects a recycling rate value corresponding to an optimal growth state of the lawn corresponding to the group of mowing data. The optimal recycling rate value corresponds to the best growth state of the lawn. The mowing data in the plurality of groups is constantly changing. Thus, g groups of historical mowing data can be obtained.

[0057] The control module is configured to adjust the recycling rate of the recycling assembly based on the recycling rate value. The control module of the embodiment is a motor drive and a decoder. The decoder stores a conversion formula of a specific relationship between the recycling rate value and a power electrical signal of the motor drive. The conversion formula is calculated by those skilled in the art according to actual conditions, and is not specifically limited here. The power electrical signal obtained by decoding by the decoder is transmitted to the motor drive. The motor drive controls the second motor 35 based on the power electrical signal, thereby changing the amount of recycled grass clippings. Because the vehicle body 1 moves during mowing, the faster the recycling rate, the more grass clippings are recycled when the vehicle body 1 passes through a certain point, and vice versa.

[0058] In the mowing process, the current mowing data and the future environmental data are used as determination factors to control the amount of grass clippings recycling, to maximize the use of grass clippings and facilitate the growth of the lawn.

[0059] The exemplary implementation of the scheme proposed by the present disclosure is described in detail above with reference to the preferred embodiments, however, it can be understood by those skilled in the art that various modifications and changes can be made to the above specific embodiments, and various technical features and structures proposed by the present disclosure can be combined without departing from the concept of the present disclosure, and the protection scope of the present disclosure is determined by the appended claims.

Claims

1. A smart lawnmower, comprising a vehicle body (1), characterized in that, Also includes: A grass-cutting mechanism (2) is mounted on the bottom of the vehicle body (1) and is used for grass cutting; The grass clipping recycling component (3) is mounted on the bottom of the vehicle body (1), and the rear of the vehicle body (1) is equipped with a collection box (4). The grass clipping recycling component (3) is used to collect the grass clippings cut by the mowing mechanism (2) into the collection box (4). The control box, mounted on the vehicle body (1), is used to analyze the amount of grass clippings recycled; The control box includes: The first acquisition module is used to acquire physical data; The second acquisition module is used to acquire data from the cloud. The grass clipping detection module is used to input physical data and cloud data into the trained grass clipping detection model and output the recycling rate value. The control module adjusts the recycling rate of the recycling components based on the recycling rate value; The physical data includes humidity values ​​and grass clipping length, the cloud data includes current and future environmental data, and the environmental data includes rainfall rate.

2. The intelligent lawnmower according to claim 1, characterized in that, The mowing mechanism (2) includes a spool (21), a blade assembly (22), a ratchet (23), and a drive assembly (24). The ratchet (23) is rotatably connected to the vehicle body (1). The spool (21) passes through the middle of the ratchet (23). The drive assembly (24) is mounted on the vehicle body (1). The blade assembly (22) is mounted on the bottom of the spool (21).

3. The intelligent lawnmower according to claim 2, characterized in that, The mowing mechanism (2) also includes an electric push rod (25) and a mowing rope (26). 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). The end of the connecting rod (251) is rotatably connected to the end of the flower shaft (21). The mowing rope (26) is fixed to the blade assembly (22).

4. The intelligent lawnmower according to claim 2, characterized in that, The drive assembly (24) includes a first motor (241) and a drive gear (242). The first motor (241) is fixed to the vehicle body (1). The output end of the first motor (241) is fixed with the drive gear (242), and the drive gear (242) meshes with a ratchet (23).

5. The intelligent lawnmower according to claim 2, characterized in that, The cutter head assembly (22) includes a fixed seat (221), a positioning seat (222), a fixed cover plate (223), and a fixing bolt (224). The outer surface of the fixed 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) engages with the limiting groove (2212). The fixed cover plate (223) is fixedly connected to the positioning seat (222) by the fixing bolt (224).

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

7. The intelligent lawnmower according to claim 1, characterized in that, The grass clipping recycling assembly (3) includes a fixed plate (31), a sweeping mechanism (32), a cleaning rake (33), and an impeller (34). The fixed plate (31) is fixed inside the vehicle body (1). The sweeping mechanism (32) and the impeller (34) are rotatably connected to the fixed plate (31). The cleaning rake (33) is fixed to the side of the sweeping mechanism (32).

8. The intelligent lawnmower according to claim 7, characterized in that, The grass clipping recycling assembly (3) also includes a second motor (35), a first drive shaft (36), a second drive 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 drive shaft (36) and the second drive shaft (37) are both fixed on the fixed plate (31). The first drive shaft (36) is rotatably connected with a drive bevel gear (361) and a drive gear (362). The outer surface of the second drive shaft (37) is rotatably connected with a reduction gear (371). The end of the impeller (34) is fixed with a driven bevel gear (341), and the driven bevel gear (341) meshes with the drive bevel gear (361). The drive gear (362) meshes with the reduction gear (371). The end of the sweeping mechanism (32) is fixed with a driven gear (38), and the reduction gear (371) meshes with the driven gear (38).

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