A mower with automatic height adjustment of the cutter

Abstract

This invention discloses a lawnmower with automatic blade height adjustment, relating to the field of lawnmowers. It includes a lawnmower body with a height adjustment mechanism installed inside its internal cavity. The height adjustment mechanism passes through the bottom of the lawnmower body, and an adaptive adjustment mechanism is installed at its bottom end. In this invention, the detection rake and rollers first contact the obstacle. The fixed frame, connecting shaft, auxiliary gear, and transverse rack transmit obstacle forces in different directions, causing the moving and stationary contacts of the first and second limit switches to close or open. Combined with pressure detection from two pressure sensors, it distinguishes between vertical lifting and lateral rotation obstacles, differentiating the height adjustment differences and avoiding misjudgments caused by single identification. This solves the problems of ambiguous obstacle identification and accidental triggering in lawnmowers.

Description

Technical Field

[0001] This invention relates to the field of lawnmower technology, specifically to a lawnmower with automatic blade height adjustment function. Background Technology

[0002] A lawnmower, also known as a lawn mower, lawn trimmer, or lawn trimmer, is a mechanical tool used to trim lawns, vegetation, etc. It consists of a blade disc, engine, wheels, walking mechanism, blades, handle, and control unit.

[0003] For example, a rotary mower with publication number CN119605467B includes: a support plate, a support column fixedly passing through the right side of the support plate, a connecting column fixedly passing through the support column located on the lower side of the support plate, rotating wheels rotatably mounted on both the front and rear end faces of the connecting column, a vertical bar fixedly mounted on the lower end face of the support plate, a support wheel rotatably mounted on the vertical bar located on the left side of the rotating wheel, and two rotating plates symmetrically distributed front and rear on the upper section of the support column via a sleeve.

[0004] In existing technologies, when adjusting the height of a lawnmower, a single sensor is used to identify and judge obstacles in front, thereby dynamically adjusting the blade height. However, the types of non-lawn obstacles in a lawn environment are diverse, with significant differences in shape, material, and height. A single sensor, limited by its own detection principle and environmental adaptability, struggles to classify and identify such complex and diverse obstacles, leading to misjudgments. This results in blade height adjustments that are either too high or too low. When misjudged as too low, the blade will forcefully press against hard objects on the ground, which can easily cause damage such as chipped teeth and curled edges. It can also cause motor overload due to a sudden increase in cutting resistance. When misjudged as too high, the blade will be raised excessively, resulting in areas of lawn that cannot be effectively cut, creating obvious missed areas. Summary of the Invention

[0005] The purpose of this invention is to provide a lawnmower with automatic blade height adjustment function to solve the problem mentioned in the background art where a single sensor is used to identify and judge obstacles in front. The shape, material, and height of the obstacles will affect the sensor. The sensor is limited by its own detection principle and environmental adaptability, making it difficult to classify and identify such complex and diverse obstacles, which may lead to misjudgment.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a lawnmower with automatic blade height adjustment function, comprising a lawnmower body, a height adjustment mechanism installed inside the lawnmower body, the height adjustment mechanism passing through the bottom side of the lawnmower body, an adaptive adjustment mechanism installed at the bottom end of the height adjustment mechanism, a detection adjustment mechanism provided at the front side of the adaptive adjustment mechanism, the detection adjustment mechanism being installed on the bottom side of the lawnmower body, the detection adjustment mechanism including a steering component, a detection component, and a vertical component, the detection component being installed below the steering component, the bottom of the vertical component being connected to the top of the steering component, a second trigger component being installed in the middle of the vertical component, a first limit switch being installed between the second trigger component and the steering component, and one side of the steering component being fixed... A connecting plate is fixedly connected, and a first triggering component is installed on one side of the connecting plate. A second limit switch is installed between the first triggering component and the steering component. Both the first and second limit switches consist of moving and stationary contacts. The second triggering component has the same structure as the first triggering component. The second triggering component includes a push plate, and a pressure sensor is fixedly connected to one side of the push plate. A pressure spring is installed at one end of the pressure sensor. The other side of the push plate is connected to the stationary contact of the first limit switch. The detection and adjustment mechanism pushes the vertical first limit switch and the horizontal second limit switch to close by contacting an obstacle, outputting an electrical signal to control the height adjustment mechanism. The adaptive adjustment mechanism is used to adaptively adjust the tilt angle to keep the mowing angle parallel to the ground.

[0007] Preferably, the steering assembly includes a fixed frame, the top side of which is connected to the moving contact of the first limit switch, a connecting shaft rotatably connected to the inner side of the fixed frame, auxiliary gears fixedly connected to both sides of the middle of the connecting shaft, a transverse rack meshing on one side of the auxiliary gear, a guide rail slidably connected to one side of the transverse rack, one side of the guide rail fixedly connected to one end of the fixed frame, a movable plate fixedly connected to one end of the two transverse racks, one side of the movable plate connected to the moving contact of the second limit switch, a torsion spring sleeved on the outside of the connecting shaft, the torsion spring being installed between the fixed frame and the auxiliary gear, sliding blocks fixedly connected to both sides of the outside of the fixed frame, and sliding grooves opened on both sides of the inside of the lawnmower body, with the sliding blocks slidably connected inside the sliding grooves.

[0008] Preferably, the detection component includes a steering frame, which is fixedly connected to the outside of the connecting shaft. The steering frame is disposed between two auxiliary gears, and a roller is fixedly connected to the inner side of the steering frame. A detection rake is fixedly connected to one side of the roller.

[0009] Preferably, the vertical assembly includes a top plate, the top side of which is fixedly connected to the bottom side of the lawnmower body, a telescopic rod fixedly connected to the bottom side of the top plate, the other end of which is fixedly connected to the top side of the fixed frame, a first spring sleeved on the outside of the telescopic rod, the first spring being installed between the top plate and the fixed frame, and the top end of the pressure spring being installed on the bottom side of the top plate.

[0010] Preferably, the adaptive adjustment mechanism includes an angle adjustment component and a tilting component. The angle adjustment component includes an adjustment disk, a rotating shaft is rotatably connected to the outer side of the adjustment disk, a cutting blade is fixedly connected to the outer side of the rotating shaft, and a steering gear is fixedly connected to the other end of the rotating shaft. A positioning rack meshes with one side of the steering gear.

[0011] Preferably, the tilting component includes a fixed frame, with a movable rod slidably connected to each of the four ends of the fixed frame. A mounting block is fixedly connected to the top of the movable rod, and a second spring is installed between the mounting block and the fixed frame. The second spring is sleeved on the outside of the movable rod, and a correction ball is fixedly connected to the bottom of the movable rod. One side of the positioning rack is fixedly connected to the movable rod, and a steering sleeve is movably connected to the outside of the movable rod via a universal joint. The other end of the steering sleeve is movably connected to the top side of the adjusting disc via a universal joint.

[0012] Preferably, the height adjustment mechanism includes a movable sleeve, the top of which is movably connected to the bottom side of the lawnmower body, the top side of the adjustment disc being movably connected to the bottom of the movable sleeve via a universal joint, the outside of the movable sleeve being fixedly connected to the middle of the fixed frame, an electric cylinder being fixedly connected inside the movable sleeve, a sliding frame being fixedly connected to the top of the electric cylinder, the outside of the sliding frame being slidably connected to the inside of the movable sleeve, a drive motor being fixedly connected to the top of the sliding frame, and one side of the drive motor being fixedly connected to the inner wall of the lawnmower body cavity.

[0013] Preferably, it also includes a height adjustment control system, which includes a signal processing unit and a decision control unit;

[0014] The signal processing unit captures the pressure signals from two pressure sensors and the on / off signals from the first and second limit switches in real time, converting the mechanical actions into electrical signals recognizable by the height adjustment control system. The decision control unit identifies the processed electrical signals, determines the obstacle type, calculates the tool lifting height, and generates control commands. The decision control unit includes an obstacle confirmation module, a logic decision module, a drive execution module, and a status monitoring module. The obstacle confirmation module verifies the validity of the limit switch trigger signals and pressure signals transmitted by the signal processing unit, eliminating false triggers and confirming whether they are real obstacles. The logic decision module uses the valid obstacle signals output by the obstacle confirmation module to determine the obstacle type based on a preset classification model and calculates the tool lifting height. The drive execution module converts the target lifting height and action commands output by the logic decision module into mechanical actions of the height adjustment mechanism and electric cylinder operation commands. The status monitoring module monitors the working status of the decision control unit in real time, identifies faults, and triggers safety responses to ensure reliable system operation.

[0015] Preferably, the signal processing unit includes a signal acquisition unit and a signal digitization module; the signal acquisition unit acquires the conditioned signals of the first limit switch and the second limit switch respectively, converts the mechanical state of the stationary contact and the moving contact into high and low level signals, and the two pressure sensors synchronously sense the pressure value of the obstacle avoidance of the detection component, converting the mechanical pressure into an analog signal; the signal digitization module uses an analog-to-digital converter to convert the amplified and filtered analog signal of the pressure sensor into a digital signal, and at the same time performs standardization processing on the high and low level signals output by the first limit switch and the second limit switch, converting the analog signal into a digital signal.

[0016] Preferably, the logical decision-making module includes a model building module and a result determination module; the model building module establishes a basic database through experimental data calibration and constructs a classification model; the result determination module, based on the mapping relationship of the model building module, inputs real-time pressure signals, calculates and outputs the specific tool lifting height, and generates the triggering timing of the command.

[0017] Compared with the prior art, the beneficial effects of the present invention are:

[0018] 1. In this invention, the detection rake and rollers first contact the obstacle, and the fixed frame, connecting shaft, auxiliary gear, and transverse rack transmit the obstacle force in different directions, causing the moving and stationary contacts of the first and second limit switches to close or open. Combined with the pressure detection of two pressure sensors, it distinguishes between two types of obstacles: vertical lifting and horizontal rotation, and differentiates the height adjustment differences, avoiding misjudgment of adjustment caused by single identification. This solves the problem of fuzzy obstacle identification and easy accidental triggering in lawnmowers.

[0019] 2. In this invention, four independent correction balls contact the ground, and together with the moving rod and the second spring, they sense the terrain undulations. During the movement of the moving rod, the positioning rack meshes with the steering gear, causing the steering gear to rotate. This rotation shaft drives the cutting blade to deflect at an angle, adapting to the cutting needs of sloping terrain.

[0020] 3. In this invention, when there is a depression or a bump on the ground, the independent correction ball drives the moving rod to slide on it, causing the adjustment plate to tilt, so that the cutting blade automatically tilts with the terrain, which can adapt to different terrains and ensure that the cutting blade is always in contact with the ground, avoiding missed cuts or soil erosion. Attached Figure Description

[0021] Figure 1 This is a first three-dimensional structural diagram of a lawnmower with automatic blade height adjustment function according to the present invention;

[0022] Figure 2 This is a schematic diagram of the internal cross-sectional structure of a lawnmower with automatic blade height adjustment function according to the present invention;

[0023] Figure 3 This is a flowchart illustrating the automatic height adjustment process of a lawnmower with automatic blade height adjustment function according to the present invention.

[0024] Figure 4 This is a schematic diagram of the connection structure of the detection and adjustment mechanism of a lawnmower with automatic blade height adjustment function according to the present invention;

[0025] Figure 5 This is a schematic diagram of the disassembly structure of the detection and adjustment mechanism of a lawnmower with automatic blade height adjustment function according to the present invention;

[0026] Figure 6 This is a schematic diagram of the connection structure between the height adjustment mechanism and the adaptive adjustment mechanism of a lawnmower with automatic blade height adjustment function according to the present invention;

[0027] Figure 7 This is a schematic diagram of the disassembly structure of the adaptive adjustment mechanism of a lawnmower with automatic blade height adjustment function according to the present invention;

[0028] Figure 8 This is a schematic diagram of the connection structure of the adaptive adjustment mechanism of a lawnmower with automatic blade height adjustment function according to the present invention;

[0029] Figure 9 This is a second three-dimensional structural diagram of a lawnmower with automatic blade height adjustment function according to the present invention;

[0030] Figure 10 This is a system block diagram of the height adjustment control system in a lawnmower with automatic blade height adjustment function according to the present invention.

[0031] In the diagram: 1. Lawn mower body; 2. Detection and adjustment mechanism; 21. Steering assembly; 211. Guide rail; 212. Horizontal rack; 213. Connecting shaft; 214. Torsion spring; 215. Auxiliary gear; 216. Moving plate; 217. Fixed frame; 22. First trigger assembly; 23. Second trigger assembly; 231. Push plate; 232. Pressure spring; 233. Pressure sensor; 24. Sliding groove; 25. Detection assembly; 251. Detection rake; 252. Roller; 253. Steering frame; 26. Vertical assembly; 261. Top plate; 262. Telescopic rod; 263. First spring; 27. Sliding block; 28. Connecting plate; 3. Adaptive adjustment mechanism; 31. Angle adjustment assembly; 311. Adjustment disc; 312 313. Cutting blade; 314. Rotating shaft; 315. Steering gear; 316. Positioning rack; 32. Inclined assembly; 321. Steering sleeve; 322. Moving rod; 323. Second spring; 324. Fixing bracket; 325. Correcting ball; 326. Mounting block; 4. Height adjustment mechanism; 41. Moving sleeve; 42. Sliding bracket; 43. Electric cylinder; 44. Drive motor; 5. First limit switch; 6. Second limit switch; 7. Signal processing unit; 71. Signal acquisition unit; 72. Signal digitization module; 8. Decision control unit; 81. Obstacle confirmation module; 82. Logical decision module; 821. Model building module; 822. Result judgment module; 83. Drive execution module; 84. Status monitoring module. Detailed Implementation

[0032] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] Example 1: Refer to Figure 1 - Figure 9As shown: A lawnmower with automatic blade height adjustment function includes a lawnmower body 1. A height adjustment mechanism 4 is installed inside the internal cavity of the lawnmower body 1, passing through the bottom side of the lawnmower body 1. An adaptive adjustment mechanism 3 is installed at the bottom end of the height adjustment mechanism 4. A detection adjustment mechanism 2 is arranged in front of the adaptive adjustment mechanism 3, and is installed on the bottom side of the lawnmower body 1. The detection adjustment mechanism 2 includes a steering component 21, a detection component 25, and a vertical component 26. The detection component 25 is installed below the steering component 21. The bottom of the vertical component 26 is connected to the top of the steering component 21. A second trigger component 23 is installed in the middle of the vertical component 26. A first limit switch 5 is installed between the trigger assembly 23 and the steering assembly 21. A connecting plate 28 is fixedly connected to one side of the steering assembly 21. A first trigger assembly 22 is installed on one side of the connecting plate 28. A second limit switch 6 is installed between the first trigger assembly 22 and the steering assembly 21. Both the first limit switch 5 and the second limit switch 6 are composed of a moving contact and a stationary contact. The second trigger assembly 23 has the same structure as the first trigger assembly 22. The second trigger assembly 23 includes a push plate 231. A pressure sensor 233 is fixedly connected to one side of the push plate 231. A pressure spring 232 is installed at one end of the pressure sensor 233. The other side of the push plate 231 is connected to the stationary contact of the first limit switch 5.

[0034] The steering assembly 21 includes a fixed frame 217. The top side of the fixed frame 217 is connected to the moving contact of the first limit switch 5. A connecting shaft 213 is rotatably connected to the inner side of the fixed frame 217. Auxiliary gears 215 are fixedly connected to both sides of the middle part of the connecting shaft 213. A transverse rack 212 meshes with one side of the auxiliary gear 215. A guide rail 211 is slidably connected to one side of the transverse rack 212. One side of the guide rail 211 is fixedly connected to one end of the fixed frame 217. A movable plate 216 is fixedly connected to one end of the two transverse racks 212. One side of the movable plate 216 is connected to the moving contact of the second limit switch 6. A torsion spring 214 is sleeved on the outside of the connecting shaft 213. The torsion spring 214 is installed between the fixed frame 217 and the auxiliary gears 215. Sliding blocks 27 are fixedly connected to both sides of the outside of the fixed frame 217. The lawnmower body 1 has two... A sliding groove 24 is provided on the side, and a sliding block 27 is slidably connected inside the sliding groove 24; the detection component 25 includes a steering frame 253, which is fixedly connected to the outside of the connecting shaft 213. The steering frame 253 is located between two auxiliary gears 215. A roller 252 is fixedly connected to the inner side of the steering frame 253, and a detection rake 251 is fixedly connected to one side of the roller 252; the vertical component 26 includes a top plate 261, the top side of the top plate 261 is fixedly connected to the bottom side of the lawnmower body 1, and a telescopic rod 262 is fixedly connected to the bottom side of the top plate 261. The other end of the telescopic rod 262 is fixedly connected to the top side of the fixed frame 217. A first spring 263 is sleeved on the outside of the telescopic rod 262. The first spring 263 is installed between the top plate 261 and the fixed frame 217, and the top end of the pressure spring 232 is installed on the bottom side of the top plate 261.

[0035] In this embodiment, when the lawnmower body 1 moves forward, the detection rake 251 contacts the obstacle first, and the roller 252 moves due to the resistance of the obstacle. When the detection rake 251 and the roller 252 are pushed upward, the steering frame 253 drives the connecting shaft 213 upward, so that the fixed frame 217 slides upward along the sliding groove 24 through the sliding block 27. When the fixed frame 217 slides upward, the pressure spring 232 is squeezed, the pressure sensor 233 detects the pressure change, and the moving contact of the first limit switch 5 touches the stationary contact above it, outputting a vertical obstacle signal.

[0036] When the detection rake 251 and roller 252 are pushed to the rear in the forward direction, the steering frame 253 is driven to rotate the connecting shaft 213. The auxiliary gear 215 simultaneously engages the transverse rack 212, pushing it to slide along the guide rail 211, which in turn drives the moving plate 216 to move. When the moving plate 216 slides with the transverse rack 212, the moving and stationary contacts of the second limit switch 6 close, outputting a transverse obstacle signal. Through the dual limit switch and pressure detection, two types of obstacles, vertical lifting and transverse rotation, are distinguished, providing differentiated triggering conditions for height adjustment and reducing misjudgment of complex and diverse obstacles. The first spring 263 and torsion spring 214 achieve automatic return. The elastic force of the first spring 263 pushes the fixed frame 217 to slide downward and return to the initial position. The first limit switch 5 is disconnected. The torsion spring 214's torsional elastic force drives the connecting shaft 213 to rotate in the opposite direction, causing the transverse rack 212 to return to its original position, and the second limit switch 6 is disconnected.

[0037] Example 2: Figure 1 - Figure 9 As shown, the adaptive adjustment mechanism 3 includes an angle adjustment component 31 and a tilting component 32. The angle adjustment component 31 includes an adjustment disk 311, a rotating shaft 313 rotatably connected to the outer side of the adjustment disk 311, a cutting blade 312 fixedly connected to the outer side of the rotating shaft 313, a steering gear 314 fixedly connected to the other end of the rotating shaft 313, and a positioning rack 315 meshing on one side of the steering gear 314. The tilting component 32 includes a fixing frame 324, with moving rods 322 slidably connected to each of the four ends of the fixing frame 324. A mounting block 326 is fixedly connected to the top of the moving rod 322, a second spring 323 is installed between the mounting block 326 and the fixing frame 324, the second spring 323 is sleeved on the outside of the moving rod 322, and a correction ball 325 is fixedly connected to the bottom end of the moving rod 322. A positioning rack 315 is located on one side of the positioning rack 315. The moving rod 322 is fixedly connected to the outside of the moving rod 322 via a universal joint. The other end of the moving rod 321 is movably connected to the top side of the adjusting plate 311 via a universal joint. The height adjustment mechanism 4 includes a moving sleeve 41. The top end of the moving sleeve 41 is movably connected to the bottom side of the lawnmower body 1. The top side of the adjusting plate 311 is movably connected to the bottom of the moving sleeve 41 via a universal joint. The outside of the moving sleeve 41 is fixedly connected to the middle of the fixed frame 324. An electric cylinder 43 is fixedly connected to the inside of the moving sleeve 41. A sliding frame 42 is fixedly connected to the top of the electric cylinder 43. The outside of the sliding frame 42 is slidably connected to the inside of the moving sleeve 41. A drive motor 44 is fixedly connected to the top of the sliding frame 42. One side of the drive motor 44 is fixedly connected to the side wall of the inner cavity of the lawnmower body 1.

[0038] In this embodiment, the decision control unit 8 outputs a command, the electric cylinder 43 is activated, and the moving sleeve 41 is pushed to slide along the outside of the sliding frame 42, so that the moving sleeve 41 is raised and lowered as a whole. The bottom end of the moving sleeve 41 is connected to the adjustment plate 311 through a universal joint. The cutting blade 312 is raised and lowered synchronously with the moving sleeve 41 to achieve obstacle avoidance lifting or reset lowering. When the correction ball 325 senses the terrain slope, the corresponding moving rod 322 slides along the fixed frame 324, driving the positioning rack 315 to move. The positioning rack 315 meshes with the steering gear 314, causing the rotating shaft 313 to rotate. The cutting blade 312 deflects synchronously to adapt to the terrain cutting angle. The four correction balls 325 independently contact the ground. When a correction ball 325 on one side encounters a depression or bulge, the corresponding moving rod 322 slides on the fixed frame 324. The second spring 323 is compressed or extended, causing the adjustment plate 311 to tilt, so that the cutting blade 312 automatically tilts with the terrain, which can adapt to different terrains.

[0039] Example 3: According to Figure 10 As shown, it also includes a height adjustment control system, which includes a signal processing unit 7 and a decision control unit 8.

[0040] The signal processing unit 7 converts mechanical actions into electrical signals that the system can recognize by capturing the pressure value signals of the two pressure sensors 233 and the on / off signals of the first limit switch 5 and the second limit switch 6 in real time.

[0041] The signal processing unit 7 includes a signal acquisition unit 71 and a signal digitization module 72. The signal acquisition unit 71 acquires the conditioned signals of the first limit switch 5 and the second limit switch 6 through two independent I / O port detection circuits, converting the mechanical state of the stationary and moving contacts into high and low level signals. The two pressure sensors 233 synchronously sense the pressure value of the obstacle avoidance component 25, converting the mechanical pressure into a weak analog signal at the mV level. The weak signal is amplified to the standard analog signal range of 1-5V using an instrumentation amplifier to meet the input requirements of subsequent analog-to-digital conversion, while ensuring the linearity of the amplification process and avoiding signal distortion that could affect the accuracy of the pressure value. The signal digitization module 72 uses an analog-to-digital converter to convert the amplified and filtered analog signal from the pressure sensor 233 into a digital signal. At the same time, it standardizes the high and low level signals output by the first limit switch 5 and the second limit switch 6 to ensure level logic matching with the main controller of the control system, converting the analog signal into a digital signal.

[0042] The decision control unit 8 identifies the electrical signal processed by the signal processing unit 7, determines the obstacle type, calculates the tool lifting height, and generates control commands. The decision control unit 8 includes an obstacle confirmation module 81, a logic decision module 82, a drive execution module 83, and a status monitoring module 84.

[0043] The obstacle confirmation module 81 verifies the validity of the limit switch trigger signal and pressure value signal transmitted by the signal processing unit 7, eliminates false triggers, and confirms whether it is a real obstacle.

[0044] The core logic for validity verification is as follows: an obstacle is considered valid only when both the limit switch triggering and the pressure signal meet the threshold. When the first limit switch 5 is triggered, the corresponding pressure value must be greater than the set trigger value of the first limit switch 5 to exclude non-threatening interference such as soft grass stems. When the second limit switch 6 is triggered, the corresponding pressure value must be greater than the set trigger value of the second limit switch 6. The pressure transmission is weak when the detection component 25 rotates to avoid the obstacle. If only a single signal triggers, such as a limit switch mis-touch but the pressure is 0, it is marked as invalid interference and no subsequent decision is initiated. The pressure signal is sampled three times consecutively for stability judgment. If the pressure value fluctuates by more than 20N within 50ms, it is judged as a non-rigid obstacle to reduce interference caused by instantaneous pressure jumps such as grass blades hitting the ground. The obstacle is not triggered to lift. Only when the pressure is stable above the threshold and lasts for ≥3 sampling cycles is it confirmed as a rigid object.

[0045] The logic decision module 82 uses the valid obstacle signal output by the obstacle confirmation module 81 to determine the obstacle type based on a preset classification model and calculate the tool lifting height. The logic decision module 82 includes a model building module 821 and a result determination module 822. The model building module 821 establishes a basic database through experimental data calibration and builds a classification model. The result determination module 822, based on the mapping relationship of the model building module 821, inputs a real-time pressure signal, calculates and outputs the specific tool lifting height, and generates the triggering time for lifting or resetting commands.

[0046] In the model building module 821, a basic database is established by recording the correspondence between the pressure P1 of the first limit switch 5, the pressure P2 of the second limit switch 6, and the actual height H of the obstacle through actual measurements on different types of obstacles. During the actual measurements, standard hard objects of different heights are used to simulate lawnmower obstacle scenarios, and the P1 and P2 values ​​for each trigger are recorded, forming multiple sets (P... 1m P 2m H m The calibration data is defined as ΔP = P1 - P2. When ΔP is greater than the set difference threshold, it is judged as a steep protrusion obstacle. When ΔP is less than or equal to the set difference threshold, it is judged as a gentle protrusion obstacle. The two types of obstacles correspond to different lifting safety redundancies. Steep protrusion obstacles have an additional lifting amount.

[0047] In the result determination module 822, the command generation trigger includes the following steps:

[0048] S1. Input the current values ​​of P1 and P2 into the basic mapping model library. The physical effective range of P1 and P2 is predefined by the basic mapping model library. If P1 / P2 < lower limit, it is determined that the sensor is not in effective contact, triggering an alarm and using the default lifting height. If P1 / P2 > upper limit, it is determined that the sensor is overloaded, triggering emergency lifting to raise the tool to the maximum height, eliminating invalid data and avoiding interpolation calculations from exceeding the reliable range of the model library.

[0049] S2. Calculate the corresponding obstacle height using an interpolation algorithm. Sort all calibration data in the model library in ascending order of P1 value, and find the data that satisfies P1. 1左 ≤P 1X ≤P 1右 Two sets of P1 values, P 1左 For less than P 1X Maximum calibration value, P 1右 For greater than P 1X The minimum calibration value is found by sorting the two selected data sets in ascending order of P2 value. 2下 ≤P 2X ≤P 2上 Two sets of P2 values, P 2下 For less than P 2X Maximum calibration value, P 2上 For greater than P 2X The minimum calibration value, extract P 1左 P 1右 P 2下 and P 2上 Four key calibration data points were used to fit the H values ​​of the four calibration data points to the desired obstacle height H through two-step linear interpolation. X The output is the target elevation height;

[0050] S3. Determine the lifting priority. When the system receives both a lifting command and a reset command at the same time, the lifting command will be executed first, and the reset action will be paused to avoid collisions with new obstacles.

[0051] S4. When all limit switch signals are disconnected and the pressure signal drops to <10N, the detection component 25 is completely free from the obstacle, and the reset decision is initiated, generating a tool restoration command to the original height. The original height value is cached by the system in real time.

[0052] The drive execution module 83 converts the target lifting height and action command output by the logic decision module 82 into the mechanical action of the height adjustment mechanism 4. The electric cylinder 43 works to drive the cutting blade 312 to lift or reset. The status monitoring module 84 monitors the working status of the decision control unit 8 in real time, identifies faults and triggers safety responses to ensure the reliable operation of the system.

[0053] In the status monitoring module 84, the working status of the decision control unit 8 is monitored in real time, including: automatically detecting the communication status of each module, sensor connection, and actuator no-load status. If a fault is found, a system lock signal is output to prohibit tool adjustment.

[0054] The usage and working principle of this device: When the lawnmower body 1 moves forward, the drive motor 44 drives the cutting blade 312 to rotate at high speed to trim the lawn. The correction ball 325 extends and retracts synchronously with the terrain. The moving rod 322 drives the positioning rack 315 to finely adjust the steering gear 314, and the cutting blade 312 adjusts its forward or backward tilt angle to keep the cutting blade 312 parallel to the ground. At the same time, the four correction balls 325 act independently. Through the compression or extension of the second spring 323, the cutting blade 312 automatically adjusts its tilt direction with the terrain to avoid missing cuts or soil erosion.

[0055] When an obstacle appears in front of the lawnmower body 1, the detection and adjustment mechanism 2 responds first. The detection rake 251 touches the obstacle first. When the detection rake 251 and the roller 252 are pushed upward, the connecting shaft 213 is pushed through the steering frame 253, so that the fixed frame 217 slides upward along the sliding groove 24 through the sliding block 27, compressing the first spring 263. The pressure spring 232 is squeezed, and the pressure sensor 233 of the second trigger assembly 23 detects the pressure. The moving contact of the first limit switch 5 closes with the stationary contact, and an electrical signal is output.

[0056] When the roller 252 is pushed to the side, it drives the steering frame 253 to rotate the connecting shaft 213. The torsion spring 214 is twisted, and the auxiliary gear 215 on the connecting shaft 213 simultaneously meshes with the transverse rack 212, pushing it to slide along the guide rail 211. This causes the moving plate 216 to move laterally. The moving plate 216 presses the pressure spring 232 of the first trigger assembly 22. The pressure sensor 233 of the first trigger assembly 22 detects the pressure, and the moving contact of the second limit switch 6 closes with the stationary contact, outputting an electrical signal.

[0057] After the signal processing unit 7 digitizes the limit switch status and pressure value, it transmits them to the decision control unit 8, triggering obstacle type and height calculation. The decision control unit 8 issues a command to drive the electric cylinder 43 to work, causing the moving sleeve 41 to rise as a whole. The cutting blade 312 rises synchronously to the target height to avoid the obstacle. The roller 252 disengages from the obstacle. The first spring 263 pulls the fixed frame 217 back to its original position along the sliding groove 24. The torsion spring 214 causes the connecting shaft 213 to rotate in the opposite direction. The transverse rack 212 and the moving plate 216 return to their original positions. The moving and stationary contacts of the first limit switch 5 and the second limit switch 6 separate. The pressure sensor 233 returns to its initial value. The cutting blade 312 descends to the initial cutting height.

[0058] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A lawnmower with automatic blade height adjustment function, comprising a lawnmower body (1), characterized in that: A height adjustment mechanism (4) is installed inside the cavity of the lawnmower body (1). The height adjustment mechanism (4) passes through the bottom side of the lawnmower body (1). An adaptive adjustment mechanism (3) is installed at the bottom end of the height adjustment mechanism (4). A detection adjustment mechanism (2) is provided on the front side of the adaptive adjustment mechanism (3). The detection adjustment mechanism (2) is installed on the bottom side of the lawnmower body (1). The detection and adjustment mechanism (2) includes a steering assembly (21), a detection assembly (25), and a vertical assembly (26). The detection assembly (25) is installed below the steering assembly (21). The bottom of the vertical assembly (26) is connected to the top of the steering assembly (21). A second trigger assembly (23) is installed in the middle of the vertical assembly (26). A first limit switch (5) is installed between the second trigger assembly (23) and the steering assembly (21). A connecting plate (28) is fixedly connected to one side of the steering assembly (21). A first trigger assembly (22) is installed on one side of the connecting plate (28). A second limit switch (6) is installed between the first trigger assembly (22) and the steering assembly (21). The first limit switch (5) and the second limit switch (6) are connected together. Both are composed of moving and stationary contacts. The second trigger assembly (23) and the first trigger assembly (22) have the same structure. The second trigger assembly (23) includes a push plate (231). A pressure sensor (233) is fixedly connected to one side of the push plate (231). A pressure spring (232) is installed at one end of the pressure sensor (233). The other side of the push plate (231) is connected to the stationary contact of the first limit switch (5). The detection adjustment mechanism (2) pushes the vertical first limit switch (5) and the horizontal second limit switch (6) to close by contacting the obstacle, outputting an electrical signal to control the height adjustment mechanism (4) to adjust the height. The adaptive adjustment mechanism (3) is used to adaptively adjust the tilt angle to keep the mowing angle parallel to the ground. The adaptive adjustment mechanism (3) includes an angle adjustment component (31) and a tilting component (32). The angle adjustment component (31) includes an adjustment disk (311), a rotating shaft (313) is rotatably connected to the outside of the adjustment disk (311), a cutting blade (312) is fixedly connected to the outside of the rotating shaft (313), and a steering gear (314) is fixedly connected to the other end of the rotating shaft (313). A positioning rack (315) meshes with one side of the steering gear (314). The tilting component (32) includes a fixing frame (324), and a moving rod (322) is slidably connected to each of the four ends of the fixing frame (324). The top of the moving rod (322) is fixedly connected to the mounting block (326), and a second spring (323) is installed between the mounting block (326) and the fixed frame (324). The second spring (323) is sleeved on the outside of the moving rod (322). The bottom end of the moving rod (322) is fixedly connected to the correction ball (325). One side of the positioning rack (315) is fixedly connected to the moving rod (322). The outside of the moving rod (322) is movably connected to the steering sleeve (321) through a universal joint. The other end of the steering sleeve (321) is movably connected to the top side of the adjusting plate (311) through a universal joint.

2. A lawnmower with automatic blade height adjustment function according to claim 1, characterized in that: The steering assembly (21) includes a fixed frame (217). The top side of the fixed frame (217) is connected to the moving contact of the first limit switch (5). A connecting shaft (213) is rotatably connected to the inner side of the fixed frame (217). Auxiliary gears (215) are fixedly connected to both sides of the middle part of the connecting shaft (213). A transverse rack (212) meshes with one side of the auxiliary gear (215). A guide rail (211) is slidably connected to one side of the transverse rack (212). One side of the guide rail (211) is fixedly connected to one end of the fixed frame (217). One end of the transverse rack (212) is fixedly connected to a movable plate (216). One side of the movable plate (216) is connected to the moving contact of the second limit switch (6). A torsion spring (214) is sleeved on the outside of the connecting shaft (213). The torsion spring (214) is installed between the fixed frame (217) and the auxiliary gear (215). Sliding blocks (27) are fixedly connected on both sides of the outside of the fixed frame (217). Sliding grooves (24) are opened on both sides of the inside of the lawnmower body (1). The sliding blocks (27) are slidably connected inside the sliding grooves (24).

3. A lawnmower with automatic blade height adjustment function according to claim 2, characterized in that: The detection assembly (25) includes a steering frame (253), which is fixedly connected to the outside of the connecting shaft (213). The steering frame (253) is located between two auxiliary gears (215). A roller (252) is fixedly connected to the inside of the steering frame (253), and a detection rake (251) is fixedly connected to one side of the roller (252).

4. A lawnmower with automatic blade height adjustment function according to claim 3, characterized in that: The vertical assembly (26) includes a top plate (261), the top side of which is fixedly connected to the bottom side of the lawnmower body (1), and a telescopic rod (262) is fixedly connected to the bottom side of the top plate (261). The other end of the telescopic rod (262) is fixedly connected to the top side of the fixed frame (217). A first spring (263) is sleeved on the outside of the telescopic rod (262). The first spring (263) is installed between the top plate (261) and the fixed frame (217). The top end of the pressure spring (232) is installed on the bottom side of the top plate (261).

5. A lawnmower with automatic blade height adjustment function according to claim 4, characterized in that: The height adjustment mechanism (4) includes a movable sleeve (41), the top of which is movably connected to the bottom side of the lawnmower body (1), the top side of the adjustment plate (311) is movably connected to the bottom of the movable sleeve (41) via a universal joint, the outside of the movable sleeve (41) is fixedly connected to the middle of the fixed frame (324), the inside of the movable sleeve (41) is fixedly connected to an electric cylinder (43), the top of the electric cylinder (43) is fixedly connected to a sliding frame (42), the outside of the sliding frame (42) is slidably connected to the inside of the movable sleeve (41), the top of the sliding frame (42) is fixedly connected to a drive motor (44), and one side of the drive motor (44) is fixedly connected to the inner wall of the lawnmower body (1).

6. A lawnmower with automatic blade height adjustment function according to claim 5, characterized in that: It also includes a height adjustment control system, which includes a signal processing unit (7) and a decision control unit (8). The signal processing unit (7) captures the pressure value signals of the two pressure sensors (233) and the on / off signals of the first limit switch (5) and the second limit switch (6) in real time, and converts the mechanical action into an electrical signal that the height adjustment control system can recognize. The decision control unit (8) identifies the electrical signal processed by the signal processing unit (7), determines the obstacle type, calculates the tool lifting height, and generates control commands. The decision control unit (8) includes an obstacle confirmation module (81), a logic decision module (82), a drive execution module (83), and a status monitoring module (84). The obstacle confirmation module (81) verifies the validity of the limit switch trigger signal and pressure value signal transmitted by the signal processing unit (7), eliminates false triggers, and confirms whether it is a real obstacle. The logic decision module (82) judges the obstacle type based on the preset classification model through the valid obstacle signal output by the obstacle confirmation module (81) and calculates the tool lifting height. The drive execution module (83) converts the target lifting height and action command output by the logic decision module (82) into the mechanical action of the height adjustment mechanism (4) and the electric cylinder (43) executes the work command. The status monitoring module (84) monitors the working status of the decision control unit (8) in real time, identifies faults and triggers safety responses to ensure the reliable operation of the system.

7. A lawnmower with automatic blade height adjustment function according to claim 6, characterized in that: The signal processing unit (7) includes a signal acquisition unit (71) and a signal digitization module (72). The signal acquisition unit (71) acquires the conditioned signals of the first limit switch (5) and the second limit switch (6) respectively, converts the mechanical state of the stationary contact and the moving contact into high and low level signals, and the two pressure sensors (233) synchronously sense the pressure value of the obstacle avoidance of the detection component (25) and converts the mechanical pressure into an analog signal. The signal digitization module (72) uses an analog-to-digital converter to convert the amplified and filtered analog signal of the pressure sensor (233) into a digital signal, and at the same time performs standardization processing on the high and low level signals output by the first limit switch (5) and the second limit switch (6) to convert the analog signal into a digital signal.

8. A lawnmower with automatic blade height adjustment function according to claim 7, characterized in that: The logical decision module (82) includes a model building module (821) and a result determination module (822). The model building module (821) establishes a basic database through experimental data calibration and builds a classification model. The result determination module (822) calculates and outputs the specific tool lifting height and generates the triggering time of the command based on the mapping relationship of the model building module (821), inputs the real-time pressure signal, and generates the triggering time of the command.

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