Switchable dual-purpose mower

Abstract

The invention discloses a switchable dual-purpose lawn mower, and particularly relates to the technical field of lawn mower equipment, the switchable dual-purpose lawn mower comprises a main body, the main body comprises a chassis, a machine body, a movable cabin arranged in the chassis, a first front wheel movable shaft, a second front wheel movable shaft, a first hydraulic rod, a second hydraulic rod, a first limiting rod and a second limiting rod, and the first front wheel movable shaft, the second front wheel movable shaft, the first hydraulic rod, the second hydraulic rod, the first limiting rod and the second limiting rod are arranged in the movable cabin; the pressure sensor is arranged in the first front wheel movable shaft, the first laser range finder and the second laser range finder are arranged on the first limiting rod and the second limiting rod, and the pressure sensor, the first laser range finder and the second laser range finder are connected with a control module through signals. The control module adjusts the speed of the left rear wheel and the right rear wheel according to the pressure change of the left front wheel and the distance change of the first limiting rod or the second limiting rod relative to the bottom plate of the movable cabin in the advancing process of the mower, and adjusts the position of the left front wheel or the right front wheel through the first hydraulic rod or the second hydraulic rod, so that the mower avoids the concave-convex area of the ground. And stable advancing of the mower is ensured.

Description

Technical Field

[0001] This invention relates to the field of lawnmower equipment technology, and more specifically, to a switchable dual-purpose lawnmower. Background Technology

[0002] As a core piece of equipment for lawn maintenance and orchard management, lawn mowers are now widely used in traditional courtyards, mountain orchards, and are also gradually expanding their application in complex locations such as urban green belts and golf courses.

[0003] In the operation of existing lawnmowers, when encountering uneven ground, sensors are usually used to identify it. However, a single sensor is not enough to accurately identify irregular depressions or bumps on the ground, which limits the obstacle avoidance function. At the same time, for scenarios such as mountainous orchards, existing lawnmowers have insufficient terrain adaptability and are difficult to operate flexibly in rugged terrain environments.

[0004] To address the above problems, this invention proposes a solution. Summary of the Invention

[0005] In order to overcome the above-mentioned defects of the prior art, embodiments of the present invention provide a switchable dual-purpose lawnmower that solves the problems mentioned in the background art by dynamically adjusting the height of the front wheel and the speed of the rear wheel.

[0006] To achieve the above objectives, the present invention provides the following technical solution: A switchable dual-purpose lawnmower includes a main body, which comprises a chassis, a body, a motor compartment, and a transmission compartment. The main body includes a movable compartment and a rear wheel power compartment disposed within the chassis; two front wheel axles (one and two) and two hydraulic rods (one and two) disposed within the movable compartment; a left front wheel and a right front wheel disposed at the front ends of the two front wheel axles; two limiting rods (one and two) disposed on the sides of the two front wheel axles; a pressure sensor disposed within the front wheel axle; and laser rangefinders disposed on the limiting rods. Instrument 1 and laser rangefinder 2 are installed inside motors 2 and 3 on both sides of the rear wheel power compartment; the pressure sensor, laser rangefinder 1 and laser rangefinder 2 are connected to a control module via signals. The control module controls motors 2 and 3 to adjust the speed of the left and right rear wheels and the position of the left or right front wheels based on the pressure change of the left front wheel during the lawnmower's forward movement and the distance change of the limit rod 1 or limit rod 2 relative to the upper surface of the movable compartment floor plate detected by laser rangefinder 1 or laser rangefinder 2.

[0007] In a preferred embodiment, the chassis further includes a front wheel control compartment and a rotating compartment.

[0008] In a preferred embodiment, the pressure sensor can be installed in the first front wheel axle, or in the second front wheel axle, or in both the first and second front wheel axles respectively.

[0009] In a preferred embodiment, one end of the front wheel axle is hinged to the main body, and the other end is fitted with the left front wheel; one end of the front wheel axle is hinged to the main body, and the other end is fitted with the right front wheel.

[0010] In a preferred embodiment, motor two and motor three control the rotational speeds of the left rear wheel and the right rear wheel, respectively.

[0011] In a preferred embodiment, one end of the hydraulic rod is hinged to the main body, and the other end is hinged to the front wheel axle; one end of the hydraulic rod is hinged to the main body, and the other end is hinged to the front wheel axle.

[0012] In a preferred embodiment, the first limiting rod is fixedly connected to the side of the first front wheel axle between the first front wheel axle and the main body hinge joint and the first front wheel axle and the hydraulic rod axle joint, and the second limiting rod is fixedly connected to the side of the second front wheel axle between the second front wheel axle and the main body hinge joint and the second front wheel axle and the hydraulic rod axle joint.

[0013] In a preferred embodiment, the control module includes: a pressure detection unit for collecting the pressure on the left front wheel detected by a pressure sensor; a distance detection unit for collecting the distances between limit rod 1 and limit rod 2 detected by laser rangefinder 1 and laser rangefinder 2 relative to the upper surface of the movable cabin floor; and a data processing unit, wherein the pressure detection unit transmits the pressure on the left front wheel detected by the pressure sensor to the data processing unit, and the distance detection unit transmits the distances between limit rod 1 and limit rod 2 detected by laser rangefinder 1 and laser rangefinder 2 relative to the upper surface of the movable cabin floor. The data is sent to the data processing unit, which comprehensively determines the unevenness of the ground in front of the lawnmower based on the pressure on the left front wheel and the changes in the distance between limit rod one and limit rod two relative to the upper surface of the movable cabin floor. This determines whether to activate hydraulic rod one or hydraulic rod two to adjust the position of the left or right front wheel, and whether to change the output torque of motor two and motor three to change the speed of the left and right rear wheels, ensuring the lawnmower moves smoothly and avoids uneven areas. The control unit then controls the activation of hydraulic rod one and hydraulic rod two and the output torque of motor two and motor three based on the analysis results from the data processing unit.

[0014] In a preferred embodiment, the laser rangefinder is fixed to the inner end of the limiting rod and is used to detect the distance change of the limiting rod relative to the upper surface of the movable cabin floor.

[0015] In a preferred embodiment, the laser rangefinder II is fixed to the inner end of the limiting rod II and is used to detect the distance change of the limiting rod II relative to the upper surface of the movable cabin floor plate.

[0016] This invention enables intelligent adjustment of the pressure applied to the raw material by the roller assembly through a pressure adjustment mechanism. In conjunction with a laser displacement sensor, it can adapt to the rapid forming of the cord panel, increasing the forming speed of the cord panel while ensuring the thickness of the finished product. By setting a pressure sensor to monitor the pressure applied to the raw material by the roller assembly in real time, the pressure that the roller assembly needs to apply to the raw material at the preset speed and preset finished product thickness is recorded. When using it again, the user only needs to set the speed and finished product thickness, simplifying the user process.

[0017] This invention uses a control module to determine when to activate the pressure adjustment mechanism to adjust the pressure applied to the raw material by the roll assembly, thereby preventing the finished product thickness from failing to meet requirements, thus avoiding waste of raw materials and improving economic efficiency. Attached Figure Description

[0018] To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to the accompanying drawings; Figure 1 This invention provides a switchable dual-purpose lawnmower. Figure 2 This is a schematic diagram of the internal structure of the fuselage of the present invention; Figure 3 This is a schematic diagram of the chassis structure of the present invention; Figure 4 This is a schematic diagram of the internal structure of the chassis of the present invention; Figure 5 This is a schematic diagram of the front wheel adjustment mechanism of the present invention; Figure 6 This is a schematic diagram showing the installation positions of the pressure sensor, laser rangefinder one, and laser rangefinder two of the present invention; Figure 7 This is a flowchart of a switchable dual-purpose lawnmower according to the present invention.

[0019] In the diagram: 100. Main body; 101. Chassis; 102. Fuselage; 103. Motor compartment; 104. Transmission compartment; 105. Mobility compartment; 106. Top plate; 107. Rotating compartment; 108. Rear wheel power compartment; 109. Front wheel control compartment; 110. Rear wheel power compartment floor plate; 111. Front wheel control compartment floor plate; 201. Motor 1; 202. Motor 2; 203. Motor 3; 204. Battery pack; 205. Gear set; 206. Shaft; 2 07. Rotary shaft bearing; 208. Fixing bolt; 209. Blade; 210. Left front wheel; 211. Right front wheel; 212. Left rear wheel; 213. Right rear wheel; 214. Rear wheel cover plate; 215. Front wheel movable axle one; 216. Front wheel movable axle two; 217. Hydraulic rod one; 218. Hydraulic rod two; 219. Limiting rod one; 220. Limiting rod two; 301. Pressure sensor; 302. Laser rangefinder one; 303. Laser rangefinder two. Detailed Implementation

[0020] 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.

[0021] Example 1, such as Figures 1 to 7As shown, a switchable dual-purpose lawnmower includes a main body (100), which includes a chassis (101), a body (102), a motor compartment (103), a transmission compartment (104), and a movable compartment (105). A top plate (106) is provided above the motor compartment (103) and the transmission compartment (104). The motor compartment (103) is located at the rear of the main body (100) and above the body (102). A motor (201) that drives the blades (209) to rotate is provided in the motor compartment (103). The output torque of the motor drives the rotating shaft (206) to rotate through the gear set (205), thereby driving the blades (209) to cut. The transmission compartment (104) is located in the middle of the main body (100) and above the body (102). It is equipped with a gear set (205). The gear set (205) applies the torque of the motor (201) to the rotating shaft (206). The gear set (205) drives the blade (209) to rotate through the rotating shaft (206). The upper end of the rotating shaft (206) passes through the chassis (101) and is connected to the driven gear of the gearbox. The lower end is locked with the blade (209) by the blade (209) fixing bolt (208). The rotating shaft (206) passes through the chassis (101) on the bottom surface of the transmission compartment (104) and is equipped with a rotating shaft bearing (207).The chassis (101) is located below the fuselage (102) and includes a rotating compartment (107) for accommodating the rotation of the blade (209), a rear wheel power compartment (108) containing a second motor (202) for driving the left rear wheel and a third motor (203) for driving the right rear wheel, and a front wheel control compartment (109) for housing a hydraulic rod controller. The bottom surface of the rear wheel power compartment (108) is provided with a rear wheel power compartment floor plate (110), and the bottom surface of the front wheel control compartment (109) is provided with a front wheel control compartment. The base plate (111), the rotating cabin (107) is located in the middle of the chassis (101) and below the fuselage (102), the rear wheel power cabin (108) is located at the tail of the chassis (101) and below the fuselage (102), the front wheel control cabin (109) is located at the front of the chassis (101) and below the fuselage (102), the rear wheels are located on both sides of the rear wheel power cabin (108), and a rear wheel cover plate (214) is provided above the rear wheels. The movable cabin (105) is located below the main body (100) and in front of the front wheel control cabin (109). The engine compartment (105) is equipped with a front wheel axle 1 (215) and a front wheel axle 2 (216). One end of the front wheel axle 1 (215) is hinged to the main body (100), and the other end is fitted with the left front wheel (210). One end of the front wheel axle 2 (216) is hinged to the main body (100), and the other end is fitted with the right front wheel (211). Above the axle 1 and the front wheel axle 2 (216) are hydraulic rods 1 (217) and 2 (218). One end of the hydraulic rod 1 (217) is connected to the main body (100). The body (100) is hinged at one end, and the other end is hinged to the first front wheel axle (215). One end of the second hydraulic rod (218) is hinged to the body (100), and the other end is hinged to the second front wheel axle (216). By setting the first front wheel axle (215) and the second front wheel axle (216), as well as the first hydraulic rod (217) and the second hydraulic rod (218), the left front wheel (210) and the right front wheel (211) can move up and down respectively under the control of the first hydraulic rod (217) and the second hydraulic rod (218).

[0022] Furthermore, a pressure sensor (301) is installed inside the first front wheel axle (215), specifically located above the left front wheel (210) and between the hinge point of the first hydraulic rod (217), used to detect the pressure of the left front wheel (210) when it is moving. The first front wheel axle (215) and the second front wheel axle (216) are respectively provided with a limit rod (219) and a limit rod (220). The limit rod (219) is fixed to the side of the front wheel axle. The limit rod (219) is specifically located between the hinge joint of the first front wheel axle (215) and the main body (100) and the hinge point of the first front wheel axle (215) and the first hydraulic rod (217). The limit rod (220) is fixed to the side of the front wheel axle. 0) Specifically located between the hinge joint of the front wheel movable axle 2 (216) and the main body (100) and the hinge point of the front wheel movable axle 2 (216) and the hydraulic rod 2 (218), a laser rangefinder 1 (302) is provided on the inner end of the limiting rod 1 (219), and a laser rangefinder 2 (303) is provided on the inner end of the limiting rod 2 (220). By setting the laser rangefinder 1 (302) and the laser rangefinder 2 (303), the limits of the up and down movement of the left front wheel (210) and the right front wheel (211) can be controlled respectively. When the left front wheel (210) descends to the distance detected by the laser rangefinder 1 (302) as 0, it indicates that the left front wheel (210) has reached the lower limit position. When the right front wheel (211) descends to the distance detected by the laser rangefinder 1 (302) as 0, it indicates that the left front wheel (210) has reached the lower limit position. When the front wheel (211) descends to the point where the distance detected by laser rangefinder 2 (303) is 0, it indicates that the right front wheel (211) has reached the lower limit position. Laser rangefinder 1 (302) and laser rangefinder 2 (303) are pre-adjusted so that the lowest point of the left front wheel (210) and the right front wheel (211) is at the same height as the main body (100). The distance measured by laser rangefinder 1 (302) and laser rangefinder 2 (303) is used as the upper limit position of the left front wheel (210) and the right front wheel (211). When the lawnmower is placed on a horizontal surface, the pressure of the pressure sensor (301) is used as the initial pressure. The distance measured by laser rangefinder 1 (302) and laser rangefinder 2 (303) is... The initial distance between the first limit rod (219) and the second limit rod (220) relative to the bottom plate of the movable cabin (105) is used as the initial distance. The pressure sensor (301), laser rangefinder one (302), and laser rangefinder two (303) are connected to the control module through signals. The control module judges the ground depression or bump encountered by the lawnmower during its movement based on the pressure change of the left front wheel (210) and the distance change between the first limit rod (219) and the second limit rod (220) relative to the upper surface of the bottom plate of the movable cabin (105) during the lawnmower's movement, and controls the front wheel to rise or fall and the rear wheel speed to avoid the ground depression or bump, so as to achieve the purpose of the lawnmower moving smoothly.

[0023] Furthermore, since the ground cannot be perfectly level during the lawnmower's movement, there will inevitably be small depressions or bumps. The lawnmower can pass directly without any adjustment. Therefore, when the pressure sensor (301) detects that the pressure on the left front wheel (210) changes by no more than 10% relative to the initial pressure during the lawnmower's movement, it considers that the lawnmower can pass directly without adjusting the speed of hydraulic rod one (217) or hydraulic rod two (218) as well as the left rear wheel (212) and right rear wheel (213).

[0024] Furthermore, when the lawnmower starts working, the ground indents to the left front of the direction of travel, causing the pressure detected by the pressure sensor (301) to decrease relative to the initial zero pressure. The distance between the limit rod (219) detected by the laser rangefinder (302) and the bottom plate of the movable cabin (105) becomes smaller relative to the initial distance. When the pressure decrease exceeds 10% of the initial pressure, the control module automatically activates the hydraulic rod (217) above the left front wheel (210), controlling the hydraulic rod (217) to extend, causing the left front wheel (210) to move downward. The hydraulic rod (217) extends until the pressure detected by the pressure sensor (301) is the same as the initial pressure. The limit rod (219) moves downward as the hydraulic rod (217) extends. The data processing module... By comprehensively analyzing the data changes of the pressure sensor (301) and the laser rangefinder (302), it can be determined that when the left front wheel (210) passes through the ground depression, the control module automatically controls the power source motor (203) of the right rear wheel (213) to reduce the speed of the right rear wheel (213) to 10% of the standard speed, and controls the power source motor (202) of the left rear wheel (212) to reduce the speed of the left rear wheel (212) to 50% of the standard speed, so that the lawnmower makes a right turn. During the turn, the control module needs to control the hydraulic rod (217) to shorten so that the pressure detected by the pressure sensor (301) is always equal to the initial pressure. After the lawnmower drives out of the ground depression, the left front wheel (210) also returns to the initial position, thus achieving the function of avoiding the ground depression.

[0025] Furthermore, when the left front wheel (210) passes through the ground depression, the hydraulic rod (217) controls the left front wheel (210) to move downwards. If the laser rangefinder (302) detects that the distance between the limit rod (219) and the bottom plate of the movable cabin (105) is 0, and the pressure detected by the pressure sensor (301) is still less than the initial pressure, it indicates that the depth of the ground depression exceeds the limit of the lawnmower's smooth driving. The control module automatically controls the power source motors (202) and (203) of the left rear wheel (212) and the right rear wheel (213) to output torque in opposite directions, so that the left rear wheel (212) moves in the opposite direction. The rotational speed is 10% of the standard speed, and the right rear wheel (213) reverses at 50% of the standard speed, which allows the lawnmower to adjust its forward direction to the right during the backward movement. During the backward movement, the control module needs to control the hydraulic rod (217) to shorten so that the pressure detected by the pressure sensor (301) is always equal to the initial pressure. After the lawnmower drives out of the ground depression, the left front wheel (210) also returns to its initial position. When the left front wheel (210) returns to its initial position, the left rear wheel (212) and right rear wheel (213) of the lawnmower return to the standard speed, and the lawnmower continues to move forward in the current direction.

[0026] Furthermore, when the lawnmower starts working, the ground protrudes to the right front of the direction of travel, which causes the pressure detected by the pressure sensor (301) to decrease relative to the initial zero pressure. The distance between the limit rod (220) and the bottom plate of the movable cabin (105) detected by the laser rangefinder (303) is greater than the initial distance. When the pressure decrease exceeds 10% of the initial pressure, the control module automatically activates the hydraulic rod (218) above the right front wheel (211), controlling the hydraulic rod (218) to shorten, causing the right front wheel (211) to move upward. The hydraulic rod (218) is shortened until the pressure detected by the pressure sensor (301) is the same as the initial pressure. The data processing module comprehensively analyzes the pressure sensor (301) and the laser rangefinder (303) to determine the pressure. The data change of the optical rangefinder (303) indicates that the right front wheel (211) has passed the ground protrusion. The control module automatically controls the power source motor (203) of the right rear wheel (213) to reduce the speed of the right rear wheel (213) to 50% of the standard speed, and controls the power source motor (202) of the left rear wheel (212) to reduce the speed of the left rear wheel (212) to 10% of the standard speed, so that the lawnmower makes a left turn. During the turn, the control module needs to control the extension of the hydraulic rod (218) so that the pressure detected by the pressure sensor (301) is always equal to the initial pressure. After the lawnmower drives out of the ground protrusion, the right front wheel (211) also returns to the initial position, thus achieving the function of avoiding the ground protrusion.

[0027] Furthermore, when the right front wheel (211) passes over the ground protrusion, the hydraulic rod two (218) controls the right front wheel (211) to move upward. If the laser rangefinder two (303) detects that the distance between the limit rod two (220) and the bottom plate of the movable cabin (105) has reached the upper limit position, and the pressure detected by the pressure sensor (301) is still less than the initial pressure, it indicates that the height of the ground protrusion exceeds the limit of the lawnmower's smooth driving. The control module automatically controls the power source motors two (202) and three (203) of the left rear wheel (212) and right rear wheel (213) to output power in opposite directions. The output torque causes the left rear wheel (212) to reverse at 50% of the standard speed and the right rear wheel (213) to reverse at 10% of the standard speed, thus adjusting the forward direction to the left during the lawnmower's backward movement. During the backward movement, the control module needs to control the extension of the hydraulic rod (218) so that the pressure of the pressure sensor (301) is always equal to the initial pressure. After the lawnmower drives out of the raised position on the ground, the right front wheel (211) also returns to the initial position. The left rear wheel (212) and the right rear wheel (213) of the lawnmower return to the standard speed, and the lawnmower continues to move forward in the current direction.

[0028] like Figures 1 to 2 As shown, a transmission compartment (104) and a motor compartment (103) are provided above the body (102). The motor compartment (103) is equipped with a motor (201) and a battery pack (204). The transmission compartment (104) is equipped with a gear set (205) and a rotating shaft (206). The battery pack (204) is bolted to the upper surface of the body (102) inside the motor compartment (103). The motor is installed on the upper surface of the body (102) between the battery pack (204) and the gear. The battery pack (204) supplies power to the motor (201). The output torque of the motor (201) is reduced by the gear set (205) and drives the rotating shaft (206) to rotate. The blade (209) installed at the lower end of the rotating shaft (206) rotates with the rotating shaft (206).

[0029] like Figures 1 to 4As shown, the fuselage (102) is provided with a movable cabin (105), a front wheel control cabin (109), a rotating cabin (107), and a rear wheel power cabin (108) below it. The movable cabin (105) is located at the head of the main body (100) and below the fuselage (102). The front wheel control cabin (109) is adjacent to the movable cabin (105). The rear wheel power cabin (108) is located at the tail of the main body (100) and below the fuselage (102). The rotating cabin is located below the fuselage (102) between the front wheel control cabin (109) and the rear wheel power cabin (108). The interior is provided with holes for installing shaft bearings (207). The left rear wheel (212) and the right rear wheel (213) are respectively installed on the two sides of the rear wheel power compartment (108). Their operation is controlled by motor two (202) and motor three (203). The outer surfaces of the two sides of the rear wheel power compartment (108) are also provided with rear wheel cover plates (214) to protect the rear wheels from weeds during the movement of the lawnmower. The left front wheel (210) and the right front wheel (211) are installed at the opening position at the front of the movable compartment (105) so that the front wheels can move up and down along the opening under the control of the hydraulic rod.

[0030] like Figures 1 to 5As shown, the movable cabin (105) is equipped with a front wheel movable axle one (215) and a front wheel movable axle two (216), a hydraulic rod one (217) and a hydraulic rod two (218), a limiting rod one (219) and a limiting rod two (220). One end of the front wheel movable axle one (215) and the front wheel movable axle two (216) are hinged to the surface of the main body (100), and the other end is respectively installed with the left front wheel (210) and the right front wheel (211). The hydraulic rod one (217) and the hydraulic rod two (218) are respectively installed with the front wheel movable axle two (219) and the right front wheel (220). Installed in the middle of the first (215) and the second (216) of the front wheel axle, one end is hinged to the first (215) and the second (216) of the front wheel axle, and the other end is hinged to the surface of the main body (100). The first (217) and the second (218) of the hydraulic rods are respectively installed above the first (215) and the second (216) of the front wheel axle, so that the left front wheel (210) and the right front wheel (211) move with the extension of the first (217) and the second (218) of the hydraulic rods. The length shortens and moves downwards or upwards. The front wheel axle (215) is equipped with a pressure sensor (301). The pressure sensor (301) is specifically located inside the front wheel axle (215) between the mounting end of the left front wheel (210) and the mounting hinge point of the hydraulic rod (217). The pressure sensor (301) is used to detect the pressure on the left front wheel (210) during walking, thereby determining whether the left front wheel (210) and the right front wheel (211) are level on the ground. The limiting rod Limiting rod 1 (219) and limiting rod 2 (220) are respectively installed on the sides of front wheel movable axle 1 (215) and front wheel movable axle 2 (216). A laser rangefinder 1 (302) is installed on the inner end of limiting rod 1 (219), and a laser rangefinder 2 (303) is installed on the inner end of limiting rod 2 (220). Laser rangefinder 1 (302) is used to detect the vertical displacement of limiting rod 1 (219), and laser rangefinder 2 (303) is used to detect the vertical displacement of limiting rod 2 (220).

[0031] like Figures 1 to 6As shown, the limiting rod one (219) is specifically installed on the side of the front wheel movable axle one (215) between the hinge joint of the front wheel movable axle one (215) and the main body (100) and the mounting joint of the hydraulic rod one (217). The limiting rod two (220) is specifically installed on the side of the front wheel movable axle two (216) between the hinge joint of the front wheel movable axle two (216) and the mounting joint of the hydraulic rod two (218) of the main body (100). The laser rangefinder one (302) is specifically... Installed on the inner end of the limiting rod one (219), the laser rangefinder two (303) is specifically installed on the inner end of the limiting rod two (220); if the pressure sensor (301) detects that the pressure of the left front wheel (210) decreases relative to the initial pressure, and the laser rangefinder one (302) detects that the distance between the limiting rod one (219) and the bottom plate of the active chamber decreases, it indicates that the left front wheel (210) has moved downwards, and the surface left front wheel (210) has passed through the depression in the ground; if the pressure If the force sensor (301) detects that the pressure of the left front wheel (210) increases relative to the initial pressure, and the laser rangefinder (302) detects that the distance between the limit rod (219) and the floor of the active chamber increases, it indicates that the left front wheel (210) is moving upward, and the surface of the left front wheel (210) passes through a raised area on the ground; if the pressure sensor (301) detects that the pressure of the left front wheel (210) decreases relative to the initial pressure, and the laser rangefinder (303) detects that the distance between the limit rod (220) and the floor of the active chamber increases, it indicates that the right front wheel (211) is moving upward, and the surface of the right front wheel (211) passes through a raised area on the ground; if the pressure sensor (301) detects that the pressure of the left front wheel (210) increases relative to the initial pressure, and the laser rangefinder (303) detects that the distance between the limit rod (220) and the floor of the active chamber decreases, it indicates that the right front wheel (211) is moving downward, and the surface of the right front wheel (211) passes through a recessed area on the ground.

[0032] Example 2, as Figures 1 to 7As shown, the control module includes: a distance detection unit, which collects the distance between the first limiting rod (219) and the second limiting rod (220) relative to the bottom plate of the movable cabin (105) detected by the first laser rangefinder (302) and the second laser rangefinder (303); a pressure detection unit, which collects the pressure on the left front wheel (210) detected by the pressure sensor (301); and a data processing unit, which collects the distance between the first limiting rod (219) and the second limiting rod (220) relative to the bottom plate of the movable cabin (105) detected by the first laser rangefinder (302) and the second laser rangefinder (303). The data is transmitted to the data processing unit. The pressure detection unit is used to collect the pressure on the left front wheel (210) detected by the pressure sensor (301) and transmit it to the data processing unit. The control system comprehensively judges whether the ground conditions in front of the mower meet the requirements for smooth movement of the mower based on the magnitude of the pressure on the left front wheel (210) and the change in the distance between the limit rod one (219) and the movable cabin (105) during the mower's forward movement. If the flatness of the ground in front of the mower does not meet the requirements, the hydraulic rod one (217) or hydraulic rod two (218) is extended or shortened to ensure that the pressure on the left front wheel (210) is always equal to the initial pressure, and the pressure on the left rear wheel (212) is also adjusted accordingly. Adjust the forward speed of the right rear wheel (213) to allow the left front wheel (210) or right front wheel (211) to smoothly pass through the depression or bump in the ground. As the left front wheel (210) or right front wheel (211) leaves the depression or bump, shorten or extend hydraulic rod one (217) or hydraulic rod two (218) to keep the pressure on the left front wheel (210) equal to the initial pressure and adjust the direction of travel to allow the rear wheel to avoid the depression or bump in the ground. After hydraulic rod one (217) or hydraulic rod two (218) drives the left front wheel (210) or right front wheel (211) back to the initial position, adjust the speed of the left rear wheel (212) and right rear wheel (213) to restore the standard speed. If hydraulic rod 1 (217) or hydraulic rod 2 (218) extends to the lower limit position or shortens to the upper limit position, the pressure on the left front wheel (210) or right front wheel (211) is still not equal to the initial pressure. If the ground depression or bulge in front of the lawnmower exceeds the adjustment range of the lawnmower, motor 2 (202) and motor 3 (203) will output reverse torque to make the lawnmower reverse. During the reversal, the direction will be adjusted to the other side of the depression or bulge. After the left front wheel (210) or right front wheel (211) returns to the initial position, motor 2 (202) and motor 3 (203) will output positive torque again to drive the lawnmower to continue moving forward in the adjusted direction.

[0033] Furthermore, the pressure on the left front wheel (210) detected by the pressure sensor (301) when the lawnmower is placed on a horizontal ground and moves forward is used as the initial pressure value. The hydraulic rods 1 (217) and 2 (218) are controlled to extend or shorten simultaneously. When the hydraulic rods 1 (217) and 2 (218) extend to their limit state simultaneously, it is set as the lower limit position. When the hydraulic rods 1 (217) and 2 (218) shorten to their limit state simultaneously, it is set as the upper limit position. When the hydraulic rods 1 (217) and 2 (218) return to their initial position, the distances between the limit rods 1 (219) and 2 (220) and the bottom surface of the active cabin (105) detected by the laser rangefinder 1 (302) and 2 (303) are respectively used as the initial values ​​of the laser rangefinder 1 (302) and 2 (303).

[0034] The control module's judgment is related to two factors. First, the pressure sensor (301) detects the pressure on the left front wheel (210). Second, the laser rangefinder one (302) and laser rangefinder two (303) detect the distance between the limit rod one (219) and the limit rod two (220) relative to the upper surface of the bottom plate of the active cabin (105). The data processing unit comprehensively analyzes whether the left front wheel (210) or the right front wheel (211) has passed through the ground depression or protrusion area based on the change of the pressure of the left front wheel (210) relative to the initial pressure and the change of the distance between the limit rod one (219) and the limit rod two (220) relative to the upper surface of the bottom plate of the active cabin (105). It then determines whether it is necessary to activate the hydraulic rod one (217) or the hydraulic rod two (218) to adjust the position of the left front wheel (210) or the right front wheel (211) and the speed of the left rear wheel (212) and the right rear wheel (213).

[0035] Furthermore, the data processing unit processes the pressure detected by the pressure sensor (301) on the left front wheel (210) and calculates... Therefore, the left front wheel (210) can be identified. Is the pressure at the initial pressure? Within the range of 0.9-1.1 times; the data processing unit processes the distances between the limiting rod 1 (219) and the limiting rod 2 (220) detected by the laser rangefinder 1 (302) and the laser rangefinder 2 (303) relative to the upper surface of the bottom plate of the active cabin (105), thereby calculating and determining the distance between the left front wheel (210) and the initial position. Whether it rises or falls, calculate , The ground conditions of the left front wheel (210) and the right front wheel (211) are determined by comprehensive assessment.

[0036] when When the left front wheel (210) and right front wheel (211) pass over the ground, it meets the requirements for the lawnmower to move smoothly and no adjustment is needed; when and >0 and When the value is greater than 0, it indicates that the left front wheel (210) has passed through the raised area of ​​the ground. The control module activates hydraulic rod one (217) to lift the left front wheel (210) to reduce the pressure of the left front wheel (210) to be equal to the initial pressure. At the same time, the speed of the left rear wheel (212) is adjusted to 50% of the standard speed and the speed of the right rear wheel (213) is adjusted to 10% of the standard speed. After the left front wheel (210) leaves the raised area of ​​the ground, the left front wheel (210) returns to the initial position. The speeds of the left rear wheel (212) and the right rear wheel (213) are restored to the standard speed. If hydraulic rod one (217) shortens to the limit rod one (219) reaching the upper limit position, When the pressure on the left front wheel (210) is still more than 1.1 times the initial pressure, it indicates that the ground protrusion exceeds the adjustment limit of the lawnmower. The control module controls motor two (202) and motor three (203) to output reverse torque, and controls the left rear wheel (212) to move backward at 10% of the standard speed and the right rear wheel (213) to move backward at 50% of the standard speed. The direction is adjusted by the speed difference between the left rear wheel (212) and the right rear wheel (213). After the lawnmower moves backward until the left front wheel (210) leaves the ground protrusion area, it can continue to move forward in the adjusted direction to carry out the mowing operation.

[0037] when and >0 and When the ground is <0, the right front wheel (211) passes through the ground depression area. The control module activates hydraulic rod two (218) to lower the right front wheel (211) to increase the pressure of the right front wheel (211) to be equal to the initial pressure. At the same time, the speed of the left rear wheel (212) and the right rear wheel (213) are adjusted to 10% of the standard speed. After the right front wheel (211) leaves the ground depression area, the right front wheel (211) returns to its initial position. The speeds of the left rear wheel (212) and the right rear wheel (213) are restored to the standard speed. If hydraulic rod two (218) extends to limit rod two ( 220) When the lower limit position is reached, the pressure of the right front wheel (211) is still lower than 0.9 times the initial pressure. The surface depression exceeds the adjustment limit of the lawnmower. The control module controls motor two (202) and motor three (203) to output reverse torque, control the left rear wheel (212) to move backward at 50% of the standard speed and the right rear wheel (213) to move backward at 10% of the standard speed. The direction is adjusted by the speed difference between the left rear wheel (212) and the right rear wheel (213). After the lawnmower moves backward until the right front wheel (211) leaves the ground depression area, it can continue to move forward in the adjusted direction to carry out the mowing operation.

[0038] It should be noted that, for the sake of brevity, the foregoing method embodiments are described as a series of actions, but this does not mean that the application limits the order of the steps. Based on the ideas of this application, some steps can be executed in different orders or in parallel without affecting the functional implementation. Secondly, those skilled in the art should also understand that the specific embodiments described in the specification are preferred embodiments of the technical solutions of this application, and not limitations on the scope of protection of this application. All equivalent improvements or substitutions made within the spirit and principles of this application should be covered within the scope of protection of this application.

[0039] In conclusion, the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. 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 switchable dual-purpose mower comprising a main body comprising a chassis, a machine body, a motor compartment, a transmission compartment, characterized in that: The lawn mower comprises a chassis, a movable cabin and a rear wheel power cabin arranged in the chassis, a front wheel movable shaft I and a front wheel movable shaft II arranged in the movable cabin, a hydraulic rod I and a hydraulic rod II, left and right front wheels arranged at the front ends of the front wheel movable shaft I and the front wheel movable shaft II, limiting rods I and II arranged on the side surfaces of the front wheel movable shaft I and the front wheel movable shaft II, a pressure sensor arranged in the front wheel movable shaft I, and laser range finders I and II arranged on the limiting rods I and II, and motors II and III arranged in the inner side surfaces of the rear wheel power cabin. The pressure sensor, the laser range finders I and II are connected with a control module through signals, and the control module controls the motors II and III to adjust the speeds of the left and right rear wheels and the hydraulic rods I and II to adjust the positions of the left and right front wheels according to the pressure changes of the left front wheel during the forward movement of the lawn mower and the distance changes of the limiting rods I and II relative to the upper surface of the bottom plate of the movable cabin detected by the laser range finders I and II.

2. A convertible lawnmower as claimed in claim 1, wherein: The chassis further comprises a front wheel control cabin and a rotating cabin.

3. A convertible lawnmower as claimed in claim 1, wherein: The pressure sensor can be arranged in the front wheel movable shaft I, the front wheel movable shaft II or both.

4. A convertible lawnmower as claimed in claim 1, wherein: One end of the front wheel movable shaft I is hinged to the main body, and the other end is provided with the left front wheel; one end of the front wheel movable shaft II is hinged to the main body, and the other end is provided with the right front wheel.

5. A convertible lawnmower as claimed in claim 1, wherein: The motors II and III control the rotating speeds of the left and right rear wheels, respectively.

6. A convertible lawnmower as claimed in claim 1, wherein: One end of the hydraulic rod I is hinged to the main body, and the other end is hinged to the front wheel movable shaft I; one end of the hydraulic rod II is hinged to the main body, and the other end is hinged to the front wheel movable shaft II.

7. A convertible lawnmower as claimed in claim 1, wherein: The limiting rod I is fixedly connected to the side surface of the front wheel movable shaft I between the hinged joint of the front wheel movable shaft I and the main body and the hinged joint of the front wheel movable shaft I and the hydraulic rod I; and the limiting rod II is fixedly connected to the side surface of the front wheel movable shaft II between the hinged joint of the front wheel movable shaft II and the main body and the hinged joint of the front wheel movable shaft II and the hydraulic rod II.

8. A convertible lawnmower as claimed in claim 1, wherein: The control module comprises: a pressure detection unit for collecting the pressure detected by the pressure sensor on the left front wheel; a distance detection unit for collecting the distances of the limiting rods I and II relative to the upper surface of the bottom plate of the movable cabin detected by the laser range finders I and II; a data processing unit, the pressure detection unit transmits the pressure detected by the pressure sensor on the left front wheel to the data processing unit, the distance detection unit transmits the distances of the limiting rods I and II relative to the upper surface of the bottom plate of the movable cabin detected by the laser range finders I and II to the data processing unit, and the data processing unit comprehensively determines the concave-convex conditions of the ground in front of the lawn mower according to the pressure on the left front wheel and the distance changes of the limiting rods I and II relative to the upper surface of the bottom plate of the movable cabin, so as to determine whether the positions of the left and right front wheels need to be adjusted by the hydraulic rods I and II and whether the speeds of the left and right rear wheels need to be changed by the motors II and III, so as to ensure the stable forward movement of the lawn mower and avoid the concave-convex areas of the ground. The control unit controls the starting of hydraulic rod one and hydraulic rod two, as well as the torque output of motor two and motor three, based on the analysis results of the data processing unit.

9. A convertible lawnmower as claimed in claim 8, characterised in that: The laser rangefinder is fixed to the inner end of the limiting rod and is used to detect the change in distance between the limiting rod and the upper surface of the movable cabin floor.

10. A convertible lawnmower as claimed in claim 8, wherein: The laser rangefinder II is fixed to the inner end of the limiting rod II and is used to detect the distance change of the limiting rod II relative to the upper surface of the movable cabin floor plate.

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