Garden robot

Abstract

The invention discloses a garden robot which comprises a modular power assembly and a working assembly, the working assembly is used for executing garden operation and connected with the power assembly through a quick assembly mechanism, and the power assembly is used for driving the working assembly to execute the garden operation; through modular, intelligent and unmanned design, a universal power assembly is adopted as a main driving mechanism, environment perception, remote communication and intelligent control are integrated, the working head or the second vehicle body can be conveniently replaced according to working needs, the quick mounting mechanism can quickly achieve replacement of different working heads, and the working efficiency is improved. The system is simple in structure, high in intelligent degree, good in universality and capable of well adapting to unmanned intelligent development of agricultural garden equipment in the future.

Description

Technical Field

[0001] This invention relates to the field of garden machinery technology, and in particular to a garden robot. Background Technology

[0002] Agricultural and horticultural operations encompass multiple stages, including sowing, tilling, plant protection, pruning, harvesting, weeding, and snow removal. To meet these diverse operational needs, the market has developed highly specialized machinery, such as lawnmowers for lawn mowing, snowplows for winter snow removal, tillers for land preparation, and seeders for crop planting. These machines have undergone long-term development, and their mechanical structures, power systems, and operating methods are quite mature, forming the foundation of modern agricultural and forestry production and horticultural maintenance. Currently, the vast majority of these machines are still primarily operated manually, requiring operators to drive or follow the equipment to complete the tasks.

[0003] While existing specialized equipment performs well in single operational scenarios, its inherent design concepts and operating modes are no longer adequate to adapt to the new trends in modern agricultural and horticultural management towards intelligence, efficiency, and cost reduction. The core problems lie primarily in the following aspects: (1) Functional isolation and the problem of "equipment islands" Each type of machinery is typically designed independently to perform a specific task, resulting in limited functionality and fragmentation. For example, a lawnmower cannot remove snow, and a snowplow cannot be used for seeding. This forces users (such as farms, landscaping companies, or home users) to purchase multiple different machines depending on the season and the task. This not only incurs huge initial purchase costs but also leads to high storage, maintenance, and management costs, creating an "equipment silo" effect and low resource utilization.

[0004] (2) High dependence on human resources and operational burden Existing equipment generally requires operators to drive or control it throughout the entire process. This not only places specific demands on the operators' skills but also limits operational efficiency to human physical strength and working hours. In harsh environments (such as high temperatures, extreme cold, and dust), manual labor conditions are arduous, posing health and safety risks. Furthermore, with the aging of the global agricultural workforce and the continuous rise in labor costs, this highly labor-dependent model has become unsustainable.

[0005] (3) Low level of intelligence and informatization Traditional machinery lacks the ability to perceive and make decisions regarding the environment, the work objects, and its own condition. Its work path planning and parameter adjustments (such as mowing height and tillage depth) heavily rely on the operator's experience and judgment, making precision and optimization difficult. Furthermore, it cannot interact with farm / garden management systems, failing to form a closed loop of operational data, thus hindering the overall development of smart agriculture and digital landscaping.

[0006] (4) Poor platform versatility and lack of modularity Existing equipment, from chassis and power unit to working modules, is typically an inseparable whole. Interfaces, control systems, and data protocols are incompatible between different manufacturers, and even between different models from the same manufacturer, preventing the chassis platform and working modules from being universally applicable and interchangeable. Users who wish to expand functionality must purchase the entire machine, rather than using the low-cost method of replacing modules, resulting in a significant waste of resources.

[0007] In conclusion, the agricultural and garden machinery industry is currently facing an urgent need to shift from the traditional "single-function, human-driven" model to an "intelligent, universal, unmanned, and autonomous" paradigm. With the maturity of unmanned technologies such as the Internet of Things (IoT), Artificial Intelligence (AI), high-precision navigation, and robot control, building an intelligent, universal chassis platform and developing a series of quickly replaceable standardized and modular operating tools on this basis has become an inevitable trend in the industry. This architecture can effectively solve the core problems mentioned above, such as "equipment silos," reliance on human labor, insufficient intelligence, and poor platform universality, significantly reducing the total lifecycle cost and improving operational efficiency and accuracy. It is a key path to achieving sustainable development in agricultural and garden management. Summary of the Invention

[0008] In view of the above-mentioned shortcomings of the existing technology, the purpose of this invention is to provide a garden robot to solve the problems of poor intelligence, poor versatility and high cost of use of the existing technology.

[0009] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: A garden robot includes a modular powertrain and a working assembly. The working assembly is used to perform gardening operations and is connected to the powertrain via a quick-release mechanism. The powertrain drives the working assembly to perform gardening operations. The powertrain includes a first vehicle body, a first walking assembly mounted near the front end of the first vehicle body, and a rear support frame mounted near the rear end. The first vehicle body also houses an environmental perception module for sensing the surrounding environment, a communication module for remote communication, a computing control unit for receiving signals from each module, processing the signals, and sending control commands, and a power supply module for supplying power to each module. The working assembly includes a second vehicle body, a second walking assembly mounted at the front end of the second vehicle body, and a working head mounted on the second vehicle body for performing preset gardening operations.

[0010] As an optimization, the first vehicle body includes a first chassis and a first body shell mounted on the first chassis. Multiple uprights forming a rectangle are erected on the first chassis. The power supply module includes multiple batteries, and the batteries are installed within the rectangular area enclosed by the uprights on the first chassis.

[0011] As an optimization, the environmental perception module includes a first visual sensor and / or a first millimeter-wave radar and / or a lidar installed on the front side of the top of the first vehicle body, and / or third visual sensors on the sides and rear of the first vehicle body, and / or multiple first anti-collision radars distributed along the width direction of the rear end of the first vehicle body.

[0012] As an optimization, the communication module includes an RTK antenna and / or a 915M antenna mounted on the top of the first vehicle body.

[0013] As an optimization, an emergency operation panel is also installed on the first body shell, which includes a key start / stop knob and an emergency stop button; a rain sensor is also installed on the first body shell.

[0014] As an optimization, the second vehicle body includes a second chassis and a second body shell mounted on the second chassis. A second vision sensor and / or a second millimeter-wave radar are installed at the front end of the second body shell, and / or a plurality of second anti-collision radars are distributed along the width direction of the front end of the second body shell.

[0015] As an optimization, the second walking assembly includes a front axle mounted on the lower side of the second chassis near the front end. The middle part of the front axle is hinged to the second chassis, allowing it to rotate around the hinge point in a vertical plane. A caster wheel is mounted on each end of the front axle. The two ends of the front axle bend obliquely upward and obliquely forward.

[0016] As an optimization, the working head includes a lawnmower for performing mowing operations. The lawnmower includes a cutter head mounted below a second chassis, a rotating shaft rotatably mounted on the second chassis, and lifting linkage mechanisms disposed on opposite sides of the second chassis in the width direction. The lifting linkage mechanism includes a front V-shaped rotating plate and a rear V-shaped rotating plate arranged along the front-rear direction of the second chassis. The apex of the front V-shaped rotating plate is fixedly connected to the end of the rotating shaft, and the apex of the rear V-shaped rotating plate is rotatably mounted on the second chassis. The front side support arms of the front V-shaped rotating plate and the rear V-shaped rotating plate are respectively connected to the cutter head via connecting rods, and the rear side support arms of the front V-shaped rotating plate and the rear V-shaped rotating plate are connected by a linkage rod. The head also includes a driving hydraulic cylinder, which is connected to the rotating shaft via a push rod and is used to drive the rotating shaft to rotate around its axis, thereby driving the front V-shaped rotating plate to rotate. The front V-shaped rotating plate drives the rear V-shaped rotating plate to rotate synchronously via the linkage rod, and the front V-shaped rotating plate and the rear V-shaped rotating plate drive the cutter head to rise and fall via the connecting rod.

[0017] As an optimization, the quick-assembly mechanism includes a first connecting part disposed at the front end of the first vehicle body and a second connecting part disposed at the rear end of the second vehicle body. The first connecting part includes a positioning beam extending forward from the middle of the front end of the first vehicle body and first connecting beams disposed on both sides of the positioning beam. The second connecting part includes a positioning plate disposed at the middle of the rear end of the second vehicle body and second connecting beams disposed on both sides of the positioning plate. The positioning plate has positioning holes through which the positioning beams can pass. The second connecting beams correspond to the first connecting beams and can be sleeved, overlapped, or docked with the first connecting beams.

[0018] As an optimization, the rear support frame includes two support plates relatively disposed on the lower rear side of the first vehicle body. A support leg is rotatably disposed between the two support plates. The support leg is a rectangular frame structure formed by an upper frame, a lower frame, and two side frames. Its side frames are connected to the support plates by springs. The lower frame of the support leg extends to both sides of the plane where the support leg is located to form an enlarged structure. The upper frame of the support leg bends and extends to the rear side of the plane where the support leg is located to form a support part. A support surface is formed on the support part. When the support leg rotates to the rear side of the first vehicle body to the support position, the support surface abuts against the lower side of the first vehicle body. A fixing arm is also provided on the lower side of the first vehicle body in front of the support leg. The end of the fixing arm is provided with a snap-fit ​​plate formed by two oppositely disposed elastic plates. Correspondingly, a snap-fit ​​connector is provided on the side frame of the support leg. When the support leg rotates to the front side of the first vehicle body to the retracted position, the snap-fit ​​connector engages with the snap-fit ​​plate.

[0019] Compared with the prior art, the present invention has the following advantages: This invention features a modular, intelligent, and unmanned design. It uses a universal powertrain as the main drive mechanism and integrates environmental perception, remote communication, and intelligent control. It can easily replace the working head or the second vehicle body according to work needs. The quick-installation mechanism can quickly replace different working heads to meet different work requirements. It has a simple structure, a high degree of intelligence, and good versatility, and can well adapt to the future development of unmanned and intelligent agricultural and garden equipment. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall vehicle structure of the present invention; Figure 2 This is the left view of the present invention; Figure 3 This is a schematic diagram of the structural arrangement of the present invention; Figure 4 This is a left front isometric side view of the first vehicle body in this invention; Figure 5 This is a left rear isometric side view of the first vehicle body in this invention; Figure 6 This is a schematic diagram of the structure of the first vehicle body in this invention; Figure 7 This is a left front isometric side view of the second vehicle body in this invention; Figure 8 This is a schematic diagram of the structure of the second vehicle body in this invention; Figure 9 for Figure 8 Left rear isometric side view; Figure 10 This is the left rear isometric side view of the rear support frame in this invention; Figure 11 This is a left view of the rear support frame in this invention; Figure 12 This is a right-side structural schematic diagram of the rear support frame in this invention; Figure 13 This is an exploded view of the rear support frame handle installation structure in this invention; Figure 14 This is an enlarged schematic diagram of the handle mounting structure in this invention; In the diagram: 1 Powertrain, 2 Working Assembly, 3 First Travel Assembly, 4 Rear Support Frame, 5 Environmental Perception Module, 501 First Vision Sensor, 502 First Millimeter-Wave Radar, 503 LiDAR, 504 Third Vision Sensor, 6 Communication Module, 601 RTK Antenna, 602 915M Antenna, 7 Second Travel Assembly, 8 First Chassis, 9 Erection Frame, 10 Battery, 11 First Collision Avoidance Radar, 12 Second Chassis, 13 Second Vision Sensor and / or Second Millimeter-Wave Radar, 14 Second Collision Avoidance Radar, 15 Front Axle, 16 Universal Wheel, 17 Bracket, 18 Cutter Head, 19 Rotating Shaft, 20 Front V-Shaped Rotating Plate, 21 Rear V-Shaped Rotating Plate, 22 Linkage Rod, 23 Linkage Rod, 24 Hydraulic Cylinder, 25 Push Rod, 26 Positioning Beam, 27 First Linkage Rod 28. Connecting beam, 29. Positioning plate, 30. Second connecting beam, 31. Positioning hole, 32. Support plate, 33. Support leg, 34. Spring, 35. Expansion structure, 36. Support surface, 37. Fixed arm, 38. Snap-fit ​​plate, 39. Snap-fit ​​connector, 40. First cover, 41. Second cover, 42. Rain sensor, 43. Emergency operation panel, 44. Handle, 45. Surface bearing, 46. Handle, 47. Fixed block, 48. Rotating block, 49. First slot, 50. Second slot, 51. Inclined surface. Detailed Implementation

[0021] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0022] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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 a part of the embodiments of the present invention, not all of them. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to represent selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0023] It should be noted that similar reference numerals and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the figures, or the orientation or positional relationship commonly used when the product is in use. They are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance. In addition, the terms "horizontal," "vertical," etc., do not indicate that the component is required to be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted. In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0024] Example: See Figures 1-14A garden robot includes a modular powertrain 1 and a working assembly 2. The working assembly 2 is used to perform gardening operations and is connected to the powertrain 1 via a quick-release mechanism. The powertrain 1 drives the working assembly 2 to perform gardening operations. The powertrain 1 includes a first vehicle body, a first walking assembly 3 mounted on the front end of the lower side of the first vehicle body, a rear support frame 4 mounted on the rear end, an environmental perception module 5 for sensing the surrounding environment, a communication module 6 for remote communication, a computing control unit for receiving signals from each module, processing the signals, and sending control commands, and a power supply module for supplying power to each module. The working assembly 2 includes a second vehicle body, a second walking assembly 7 mounted on the front end of the second vehicle body, and a working head for performing preset gardening operations mounted on the rear end of the second vehicle body via the quick-release mechanism.

[0025] This invention features a modular, intelligent, and unmanned design. It uses a universal powertrain 1 as the main drive mechanism and integrates environmental perception, remote communication, and intelligent control. It can easily replace the working head or the second vehicle body according to work needs. The quick-installation mechanism can quickly replace different working heads to meet different work requirements. It has a simple structure, high level of intelligence, and good versatility, and can well adapt to the future development of unmanned and intelligent agricultural and garden equipment.

[0026] Specifically, the first vehicle body includes a first chassis 8 and a first body shell mounted on the first chassis 8. The first chassis 8 is composed of several first main beams. Multiple rectangular supports 9 are erected on the upper side of the first chassis 8. Each support 9 includes crossbeams and columns, with installation spaces formed between adjacent columns. Mounting plates can be installed between adjacent columns as needed. The installation spaces are independent of each other, facilitating the installation of different types of electrical components or motor controllers, providing sufficient installation space, improving the overall compactness of the machine, and also acting as a form of isolation to prevent mutual interference between electrical components and controllers, facilitating wiring and maintenance. Of course, with subsequent compact structural designs, the supports 9 can be eliminated, and the electrical components or controllers can be installed on the lower side of the first chassis 8, installed independently in sections, to reduce the overall volume of the first vehicle body. The power supply module includes multiple batteries 10, which are installed within a rectangular area enclosed by the support frame 9 of the first chassis 8. Correspondingly, an openable first cover 40 is provided on the first vehicle body for easy battery replacement or maintenance. An emergency operation panel 43 is also installed on the first vehicle body, featuring multiple operation buttons, including an emergency stop button and a key start / stop knob. A rain sensor 42 is also installed on the first vehicle body to detect rainfall. When the rainfall exceeds a design threshold, a signal is sent to the computing control unit, causing the robot to stop or move to a designated location. Specifically, a battery box 10 is located within the rectangular area enclosed by the support frame 9. The battery box 10 is divided into multiple battery mounting slots by partitions, with each battery 10 correspondingly snapped into one of these slots to prevent shaking and provide stability. Simultaneously, there is a gap between the battery box 10 and the first vehicle body, with the support frame 9 situated within this gap, providing installation space for electrical components or controllers mounted on the bracket 17.

[0027] In this embodiment, the environmental perception module 5 includes a first vision sensor 501 (a binocular camera in this embodiment) and / or a first millimeter-wave radar 502 and / or a lidar 503 installed on the front side of the top of the first vehicle body, and / or third vision sensors 504 (monocular cameras in this embodiment) on both sides and the rear side of the first vehicle body, and / or multiple first anti-collision radars 11 (ultrasonic radars in this embodiment) distributed along the width direction of the rear end of the first vehicle body. Specifically, the first vision sensor 501 is located at the front middle part of the first vehicle body, with its detection end facing the front of the first vehicle body. If a 360° surround-view camera is used, this limitation does not apply. It is mainly used to collect image signals around the garden robot to identify obstacles or environmental features. The first anti-collision radar 11 is mainly used to collect the distance between itself and obstacles to prevent collisions. The third vision sensor 504 is used to supplement the visual signal collection of the blind spots on both sides of the first vision sensor 501. In this embodiment, a binocular camera, a millimeter-wave radar, and a lidar 503 are integrated at the front end of the first vehicle body, taking into account distance, accuracy, and range. The three sensors can compensate for each other and cooperate to improve detection accuracy. Of course, specific configurations can be selected according to actual needs.

[0028] Since a second vehicle body is mounted on the front of the first vehicle body, the first vision sensor 501 on the first vehicle body has difficulty accurately acquiring visual signals from the area obscured by the second vehicle body. Therefore, the second vehicle body includes a second chassis 12 and a second body shell mounted on the second chassis 12. The second chassis 12 is a frame structure composed of multiple second main beams, and handles 44 are provided on both sides of the width of the second chassis 12 to facilitate dragging the second vehicle body. A second vision sensor and / or a second millimeter-wave radar 13, and / or multiple second anti-collision radars 14 distributed along the width direction of the front of the second body shell are mounted on the front of the second body shell. The second vision sensor or millimeter-wave radar is used to collect visual signals from the blind spot in front of the second vehicle body, which can achieve better obstacle recognition and obstacle avoidance effects. In this embodiment, the second vision sensor is a monocular camera used to collect visual signals from the obscured area in front of the second vehicle body to supplement the blind spot of the first vision sensor 501.

[0029] In this embodiment, the communication module 6 includes an RTK antenna 601 and / or a 915M antenna 602 mounted on the first vehicle body. The RTK antenna 601 works with the base station to locate the robot, while the 915M antenna 602 is used to communicate with remote control, Bluetooth devices, or other communication devices. The specific antenna type or the specific settings of the communication module 6 can be selected according to actual needs, such as GPS satellite communication, positioning, short-range remote control communication, local area networking, etc.

[0030] In this embodiment, the computing control unit adopts an MEC controller, but other types of on-board computers, microcontrollers, or AI chips and other conventional control units can also be used to make decisions and control based on the signals of each module. The main purpose is to perform environmental recognition, path planning, and work control. The aforementioned sensor modules and control units are all existing technologies, and the functions they can achieve are well known, so they will not be described in detail here.

[0031] The second travel assembly 7 includes a front axle 15 mounted on the lower front side of the second chassis 12. The middle part of the front axle 15 is hinged to the second chassis 12, allowing it to rotate around the hinge point in a vertical plane to form a suspension structure. A universal wheel 16 is mounted on each end of the front axle 15. The two ends of the front axle 15 bend obliquely upward to reduce the height of the middle part of the front axle 15, thereby reducing the height of the second chassis 12 and making the second vehicle body lower and more compact. At the same time, it bends obliquely forward. Correspondingly, the universal wheel 16 has a forward-inclined bracket 17. In this way, the overall length of the second vehicle body is shorter and the structure is more compact. Because the bracket 17 of the universal wheel 16 is inclined forward, the rear side of the universal wheel 16 has a larger range of motion when rotating. Therefore, the structure of the two ends of the front axle 15 bending obliquely forward and upward can effectively allow the rear side of the universal wheel 16 to move, ensuring smooth steering of the universal wheel 16 while improving structural compactness.

[0032] In this embodiment, a lawnmower is used as an example to illustrate the working head. Working heads for other gardening operations can be adapted based on this foundation. The working head includes a lawnmower for performing mowing operations. The lawnmower includes a blade disc 18 mounted below a second chassis 12, a rotating shaft 19 rotatably mounted on the second chassis 12, and lifting linkages 22 mechanisms located on opposite sides of the width of the second chassis 12. Two mowing blade drive motors are installed in the blade disc 18. The lifting linkages 22 mechanism includes a front V-shaped rotating plate 20 and a rear V-shaped rotating plate 21 arranged along the front-rear direction of the second chassis 12. The apex of the front V-shaped rotating plate 20 is connected to the rotating shaft 19. The rear V-shaped rotating plate 21 is rotatably mounted on the second chassis 12 with its apex fixedly connected at the end. The front V-shaped rotating plate 20 and the front support arm of the rear V-shaped rotating plate 21 are connected to the cutter head 18 via connecting rods 22. The rear support arms of the front V-shaped rotating plate 20 and the rear V-shaped rotating plate 21 are connected via a linkage rod 23. The system also includes a driving hydraulic cylinder 24, which is connected to a rotating shaft 19 via a push rod 25. This cylinder drives the rotating shaft 19 to rotate around its axis, thereby rotating the front V-shaped rotating plate 20. The front V-shaped rotating plate 20 drives the rear V-shaped rotating plate 21 to rotate synchronously via the linkage rod 23. The front V-shaped rotating plate 20 and the rear V-shaped rotating plate 21 drive the cutter head 18 to rise and fall via the connecting rod 22. Specifically, the power supply lines for the drive motor of the cutter head 18 and the various sensors on the second vehicle body are located on the second chassis 12 and integrated into a plug at the rear end. When the second vehicle body is connected to the first vehicle body, the plug connects to the integrated socket on the first vehicle body for power supply and control. In addition, since the omnidirectional wheel 16 has a large diameter and is a certain distance from the cutter head 18, the cutter head 18 may be bumped when the omnidirectional wheel 16 crosses obstacles such as gravel. Therefore, an auxiliary support wheel is provided on the front side of the cutter head 18 to provide support, prevent obstacles from hitting the cutter head 18, and improve the passability of the second vehicle body.

[0033] In this embodiment, the quick-assembly mechanism includes a first connecting part disposed at the front end of the first vehicle body and a second connecting part disposed at the rear end of the second vehicle body. The first connecting part includes a positioning beam 26 extending forward from the middle of the front end of the first vehicle body and a first connecting beam 27 disposed on both sides of the positioning beam 26. The second connecting part includes a positioning plate 28 disposed at the middle of the rear end of the second vehicle body and a second connecting beam 29 disposed on both sides of the positioning plate 28. The positioning plate 28 has a positioning hole 30 through which the positioning beam 26 can pass. The second connecting beam 29 corresponds to the first connecting beam 27 and can be sleeved, overlapped or docked with the first connecting beam 27. Specifically, in this embodiment, the first connecting beam 27 is made of channel steel with its opening facing downwards, and at least two first connecting holes distributed along its length are provided on the web of the first connecting beam 27. The second connecting beam 29 is also made of channel steel with its opening facing downwards, and the width of the web of the second connecting beam 29 is greater than the width of the web of the first connecting beam 27, so that the second connecting beam 29 can be fastened onto the first connecting beam 27. Second connecting holes corresponding to the first connecting holes are provided on the web of the second connecting beam 29. Meanwhile, in this embodiment, the positioning plate 28 is inclined in the vertical direction, and the positioning beam 26 is rectangular. The steel pipe has a corresponding rectangular positioning hole 30. When the first and second vehicle bodies are connected, the second connecting beam 29 overlaps the first connecting beam 27. The interlocking of the two channel steels improves connection strength and prevents lateral swaying. A quick connection is achieved by inserting connecting bolts or connecting pins through the first and second connecting holes. During the connection process, the inclined positioning plate 28 provides guidance, allowing the positioning beam 26 to be quickly inserted into the positioning hole 30, cooperating with the first connecting beam 27 and the second connecting beam 29 for rapid positioning and connection. Specifically, a second vehicle body is provided on the second chassis 12, and an openable second cover 41 is provided on the second vehicle body to facilitate the operation and maintenance of the quick-assembly mechanism.

[0034] Since the powertrain 1 is an independent, universal unit and houses important electrical components such as the battery 10, it needs to be able to remain stable independently when the second vehicle body is removed. Therefore, in this embodiment, the rear support frame 4 includes two support plates 31 positioned opposite each other on the lower rear side of the first vehicle body. A support leg 32 is rotatably mounted between the two support plates 31 via a pivot. The support leg 32 is a rectangular frame structure formed by an upper frame, a lower frame, and two side frames. Its side frames are connected to the support plates 31 via springs 33. The lower frame of support leg 32 extends to both sides of the plane containing support leg 32 to form an enlarged structure 34, increasing the area of ​​the support surface 36 and the support effect. The upper frame of support leg 32 bends and extends to the rear side of the plane containing support leg 32 to form a support part 35. A support surface 36 is formed on the support part 35. When support leg 32 rotates to the rear side of the first vehicle body to the support position, the support surface 36 abuts against the lower side of the first vehicle body, allowing the weight of the first vehicle body to be better transferred to the rear support frame 4 through the support surface 36, thereby increasing the area of ​​the support surface 36 and the support effect. A fixing arm 37 is also provided on the lower side of the first vehicle body. The end of the fixing arm 37 is provided with a snap-fit ​​plate 38 formed by two opposing elastic plates. Correspondingly, a snap-fit ​​connector 39 is provided on the side frame of support leg 32. When support leg 32 rotates to the front side of the first vehicle body to the retracted position, the snap-fit ​​connector 39 snaps into the snap-fit ​​plate 38. In use, the rear support frame 4 rotates forward and is fixed by the snap-fit ​​structure of the fixed arm 37. It is used to fix the rear support frame 4 when it is retracted during operation. The spring 33 also plays an auxiliary role to prevent the rear support frame 4 from falling. When the rear support frame 4 rotates backward to the support position, the support surface 36 on the support part 35 of the rear support frame 4 abuts against the main beam at the rear end of the first chassis 8 to improve the support effect. In addition, multiple decorative grooves are provided on the support part 35 along the width direction of the first vehicle body to improve the aesthetics.

[0035] The outrigger 32 also includes a locking mechanism. Specifically, the locking mechanism includes a plane bearing 45 sleeved on the pivot of the outrigger 32. Between the plane bearing 45 and the support plate 31, there is a fixed block 47 fixedly connected to the support plate 31 and a rotating block 48 that can rotate around the pivot and slide along the pivot. A clamping nut is installed on the other side of the plane bearing 45. The rotating block 48 is fixedly connected to a handle 46. A first slot 49 and a second slot 50 are provided on the side opposite to the fixed block 47 and the rotating block 48. The first slot 49 and the second slot 50 are connected by an inclined plane 51. Correspondingly, a locking block is provided on the rotating block 48. When the rotating block 48 rotates, the locking block can move from the first slot 49 to the second slot 50 via the inclined plane 51. During this process, the rotating block 48 slides along the pivot away from the fixed block 47, thereby squeezing the plane bearing 45 and locking the plane bearing 45, thereby locking the outrigger 32.

[0036] In summary, this invention improves the versatility of garden robots through modular design, and achieves intelligent and unmanned operation, autonomous recognition, and autonomous pathfinding by integrating intelligent and unmanned technologies. The compact and reasonable structural design enables garden robots to operate autonomously and adapt to the unmanned development of agriculture.

[0037] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit the technical solutions. Those skilled in the art should understand that any modifications or equivalent substitutions to the technical solutions of the present invention without departing from the spirit and scope of the present invention should be covered within the scope of the claims of the present invention.

Claims

1. A garden robot, characterized in that: The system includes a modular powertrain and a working assembly. The working assembly is used to perform gardening operations and is connected to the powertrain via a quick-release mechanism. The powertrain drives the working assembly to perform gardening operations. The powertrain includes a first vehicle body, with a first running gear mounted on the front side of the first vehicle body and a rear support frame mounted on the rear side. The first vehicle body also houses an environmental sensing module for sensing the surrounding environment, a communication module for remote communication, a computing control unit for receiving signals from each module, processing the signals, and sending control commands, and a power supply module for supplying power to each module. The working assembly includes a second vehicle body, with a second running gear mounted on the front end of the second vehicle body and its rear end connected to the front end of the powertrain via the quick-release mechanism. A working head for performing pre-defined gardening operations is mounted on the second vehicle body.

2. A garden robot according to claim 1, characterized in that: The first vehicle body includes a first chassis and a first body shell mounted on the first chassis. Multiple uprights forming a rectangle are erected on the first chassis. The power supply module includes multiple batteries, and the batteries are installed within the rectangular area enclosed by the uprights on the first chassis.

3. A garden robot according to claim 2, characterized in that: The environmental perception module includes a first visual sensor and / or a first millimeter-wave radar and / or a lidar installed on the front side of the top of the first vehicle body, and / or third visual sensors on the sides and rear of the first vehicle body, and / or multiple first anti-collision radars distributed along the width direction of the rear end of the first vehicle body.

4. A garden robot according to claim 2, characterized in that: The communication module includes an RTK antenna and / or a 915M antenna mounted on the top of the first vehicle body.

5. A garden robot according to claim 2, characterized in that: An emergency control panel is also installed on the first body shell, which includes a key start / stop knob and an emergency stop button; a rain sensor is also installed on the first body shell.

6. A garden robot according to claim 1, characterized in that: The second vehicle body includes a second chassis and a second body mounted on the second chassis. A second vision sensor and / or a second millimeter-wave radar are installed at the front end of the second body, and / or a plurality of second anti-collision radars are distributed along the width direction of the front end of the second body.

7. A garden robot according to claim 6, characterized in that: The second travel assembly includes a front axle mounted on the lower side of the second chassis near the front end. The middle part of the front axle is hinged to the second chassis, allowing it to rotate around the hinge point in a vertical plane. A caster wheel is mounted on each end of the front axle. The two ends of the front axle bend diagonally upward and diagonally forward.

8. A garden robot according to claim 6, characterized in that: The working head includes a lawnmower for performing mowing operations. The lawnmower includes a cutter head mounted below a second chassis, a rotating shaft rotatably mounted on the second chassis, and lifting linkage mechanisms located on opposite sides of the second chassis in the width direction. The lifting linkage mechanism includes a front V-shaped rotating plate and a rear V-shaped rotating plate arranged along the front-rear direction of the second chassis. The apex of the front V-shaped rotating plate is fixedly connected to the end of the rotating shaft, and the apex of the rear V-shaped rotating plate is rotatably mounted on the second chassis. The front support arms of the front and rear V-shaped rotating plates are connected to the cutter head via connecting rods, and the rear support arms of the front and rear V-shaped rotating plates are connected by a linkage rod. The head also includes a driving hydraulic cylinder, which is connected to the rotating shaft via a push rod to drive the rotating shaft to rotate around its axis, thereby rotating the front V-shaped rotating plate. The front V-shaped rotating plate drives the rear V-shaped rotating plate to rotate synchronously via the linkage rod. The front and rear V-shaped rotating plates drive the cutter head to rise and fall via the connecting rod.

9. A garden robot according to claim 1, characterized in that: The quick-assembly mechanism includes a first connecting part disposed at the front end of the first vehicle body and a second connecting part disposed at the rear end of the second vehicle body. The first connecting part includes a positioning beam extending forward from the middle of the front end of the first vehicle body and first connecting beams disposed on both sides of the positioning beam. The second connecting part includes a positioning plate disposed at the middle of the rear end of the second vehicle body and second connecting beams disposed on both sides of the positioning plate. The positioning plate has positioning holes through which the positioning beams can pass. The second connecting beams correspond to the first connecting beams and can be sleeved, overlapped, or butted with the first connecting beams.

10. A garden robot according to claim 1, characterized in that: The rear support frame includes two support plates positioned opposite each other on the lower rear side of the first vehicle body. A support leg is rotatably mounted between the two support plates. The support leg is a rectangular frame structure formed by an upper frame, a lower frame, and two side frames. Its side frames are connected to the support plates by springs. The lower frame of the support leg extends to both sides of the plane where the support leg is located to form an enlarged structure. The upper frame of the support leg bends and extends to the rear side of the plane where the support leg is located to form a support portion. A support surface is formed on the support portion. When the support leg rotates to the rear side of the first vehicle body to the support position, the support surface abuts against the lower side of the first vehicle body. A fixing arm is also provided on the lower side of the first vehicle body in front of the support leg. The end of the fixing arm is provided with a snap-fit ​​plate formed by two oppositely arranged elastic plates. Correspondingly, a snap-fit ​​connector is provided on the side frame of the support leg. When the support leg rotates to the front side of the first vehicle body to the retracted position, the snap-fit ​​connector engages with the snap-fit ​​plate.

Images