Mowing robot modular device capable of self-adapting to grass

Abstract

The invention relates to the technical field of mowers, in particular to a mowing robot modular device capable of self-adapting to grass. Comprising a walking module provided with a mounting shell; the number of the detection modules is two, and the two detection modules are oppositely arranged at the front end of the mounting shell; the detection module is provided with a detection rod capable of detecting the hardness of the grass diameter; the cutting module is vertically and centrally arranged at the front end of the walking module, and the cutting module is provided with a first cutting unit, a second cutting unit, a first driving unit and a second driving unit, the first cutting unit and the second cutting unit can cut weeds with different diameters, and the first driving unit and the second driving unit can alternately drive the first cutting unit and the second cutting unit to cut the weeds; the cutting state can be automatically adjusted according to different grass, the cutting efficiency is high, and the effect is good.

Description

A modular device for a lawn mowing robot that adapts to grass texture Technical Field

[0001] This invention relates to the field of lawnmower technology, specifically to a modular device for a lawnmower robot that can adapt to different grass types. Background Technology

[0002] With the rapid development of intelligent agricultural equipment and garden automation technology, lawn mowing robots have gradually replaced manual lawn mowing and become an important piece of equipment for the maintenance of lawns, parks, and agricultural grasslands. Most existing lawn mowing robots use fixed-structure blades and constant-speed motor systems to automatically trim lawns along preset paths. While this can improve mowing efficiency to some extent, in actual use, due to the significant differences in grass quality among different types of grass—such as fine grass, dense grass, weeds, or high-tenacity grasses—with varying hardness, density, and fiber structure, traditional lawn mowing robots struggle to automatically adjust their working parameters according to changes in grass quality. This often leads to problems such as uneven mowing, excessive energy consumption, and severe blade wear.

[0003] Specifically, existing lawnmower robots generally suffer from the following technical defects: 1. Inability to automatically adjust cutting height according to grass texture changes: Traditional devices mostly use a fixed cutting height structure. When encountering weeds or dense grass, the cutting resistance increases significantly, easily causing motor overload; while in sparse or fine grass areas, the fixed cutting height leads to insufficient cutting, affecting the flatness of the lawn. 2. Constant torque output and lack of adaptive control: Existing lawnmower systems mostly use constant speed motors to drive the blade disc, unable to automatically adjust the motor torque according to grass density or resistance, resulting in blade disc jamming, energy waste, and even the risk of machine burnout in high-density grass areas. 3. Simple blade structure and insufficient adaptability: Conventional lawnmower blades have a fixed shape and do not consider the changes in cutting resistance caused by differences in grass texture, making it impossible to effectively cut different grass species (such as flexible fine grass and fibrous weeds). 4. Lack of intelligent detection and dynamic adjustment mechanisms: In existing technologies, lawnmower robots mostly rely on timed or fixed mode operation, without introducing grass texture recognition, cutting feedback, or adaptive adjustment algorithms, resulting in a lack of real-time response capability during operation. Summary of the Invention

[0004] To address the aforementioned issues, a modular lawnmower device with adaptive grass texture is provided. This device not only dynamically adjusts the cutting state based on grass texture characteristics but also efficiently and stably cuts grass of different thicknesses, thereby solving the technical problem that existing lawnmowers cannot automatically identify different grass textures and cut them efficiently.

[0005] To address the problems of existing technologies, this invention provides a modular device for an adaptive grass-cutting robot, comprising: a walking module with a mounting housing; two detection modules, arranged opposite each other at the front end of the mounting housing; each detection module having a detection rod capable of detecting the hardness of grass stems; and a cutting module, vertically positioned at the front end of the walking module, the cutting module having a first cutting unit and a second cutting unit capable of cutting weeds of different diameters, and a first driving unit and a second driving unit capable of alternately driving the first and second cutting units to cut; the first cutting unit having a storage tray and a cutting rope that can be thrown out of the storage tray under centrifugal force, and a winding tray capable of winding the cutting rope back into the storage tray in a non-centrifugal state; the proximal end of the cutting rope is fixedly connected to the winding tray, and the distal end of the cutting rope extends out and is placed outside the storage tray.

[0006] Preferably, the cutting module further includes a vertical reciprocating driver capable of longitudinally driving the second cutting unit to the cutting station; the vertical reciprocating driver is fixedly installed in the mounting housing in a vertical state, and the second cutting unit is fixedly installed at the drive end of the vertical reciprocating driver in a vertical state.

[0007] Preferably, the first cutting unit further includes a torsion spring capable of always providing reverse torque to the storage tray; the take-up reel is coaxially rotatably disposed within the storage tray; the torsion spring is coaxially disposed at the bottom of the take-up reel and its two ends respectively abut against a first protrusion and a second protrusion fixedly disposed at the bottom of the take-up reel and within the storage tray.

[0008] Preferably, the storage disk is further provided with two third protrusions that are relatively vertically arranged to limit the maximum centrifugal stroke of the winding reel.

[0009] Preferably, the end of the cutting rope is further fixedly provided with a limiting ball that can limit the cutting rope from retracting into the storage tray.

[0010] Preferably, the second cutting unit includes a fixed frame, a cutting blade, a rotating frame, and a connecting frame; the vertical reciprocating drive is vertically fixed inside the mounting housing via the fixed frame; the connecting frame is horizontally fixed to the drive end of the vertical reciprocating drive, and the connecting frame is coaxially arranged with the first cutting unit; the rotating frame is coaxially rotatably arranged at the bottom of the connecting frame; and the cutting blade is coaxially fixed at the bottom of the rotating frame.

[0011] Preferably, the detection module further includes a connecting shaft and a torque sensor capable of real-time monitoring of the rotational torque of the connecting shaft; the connecting shaft is fixedly mounted vertically inside the mounting housing via the torque sensor and is positioned near the front end of the mounting housing; the detection rod is coaxially fixed outside the connecting shaft and is positioned near the bottom of the connecting shaft.

[0012] The advantages of this invention compared to the prior art are as follows: 1. This invention uses a detection rod in the detection module in conjunction with a torque sensor to detect the grass diameter, density, and grass hardness of the area to be mowed in real time, and transmits the detection signal to the control unit. The system can automatically adjust the torque, blade speed, and cutting height of the cutting module according to the detection results, thereby achieving precise adaptation to different grass types such as fine grass, dense grass, and weeds. This structure breaks through the limitations of traditional mowing equipment with "fixed parameters and slow response", and realizes a dynamic mowing strategy based on grass characteristics.

[0013] 2. This invention, by setting up a coaxial combination structure of a first cutting unit and a second cutting unit, automatically drives the first cutting unit to work when the detection module determines that the grass diameter is thin or the grass texture is soft; while when the detection module determines that the grass diameter is thick or the grass texture is dense, the second cutting unit automatically moves down and covers the first cutting unit through a vertical reciprocating drive to achieve high-speed rotational cutting; the two-stage cutting structure can automatically switch according to different vegetation conditions, and has the ability of multi-layer blade coordination and automatic switching, which significantly improves mowing efficiency and cutting quality.

[0014] 3. Through the coordinated design of the winding reel, torsion spring, and limiting ball, the cutting rope can be automatically wound and stored when not in operation, avoiding wear caused by long-term exposure; while in operation, it can be quickly thrown out and automatically tensioned by using centrifugal force and the inertia of the limiting ball. This design realizes bidirectional limiting and dynamic balance of the cutting rope, effectively preventing the rope from being over-wound or broken, and extending the service life of the cutting components. Attached Figure Description

[0015] Figure 1 is a perspective view of a modular device for a grass-cutting robot that can adapt to different grass textures.

[0016] Figure 2 is a perspective view of a modular device for a grass-cutting robot that can adapt to different grass types.

[0017] Figure 3 is a side view of a modular device for a grass-cutting robot that can adapt to different grass textures.

[0018] Figure 4 is a cross-sectional view of section AA in Figure 3.

[0019] Figure 5 is a magnified view of section B in Figure 4.

[0020] Figure 6 is an exploded perspective view of the cutting module of a modular device for a grass-mowing robot that can adapt to different grass textures.

[0021] Figure 7 is an exploded perspective view of the first cutting unit of a modular device for a grass-cutting robot that can adapt to different grass textures.

[0022] Figure 8 is an exploded perspective view of the second cutting unit of a modular device for a grass-cutting robot that can adapt to different grass textures.

[0023] The diagram is labeled as follows: 1. Walking module; 11. Mounting housing; 2. Detection module; 21. Detection rod; 22. Connecting shaft; 23. Torque sensor; 3. Cutting module; 31. First cutting unit; 311. Storage disk; 312. Cutting rope; 313. Rewinding reel; 314. Torsion spring; 315. First protrusion; 316. Second protrusion; 317. Third protrusion; 318. Limiting ball; 32. Second cutting unit; 321. Fixing frame; 322. Cutting disc; 323. Rotating frame; 324. Connecting frame; 33. First drive unit; 34. Second drive unit; 35. Vertical reciprocating driver. Detailed Implementation

[0024] To further understand the features, technical means, and specific objectives and functions achieved by the present invention, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.

[0025] Referring to Figures 1 to 8: A modular device for a grass-mowing robot adaptable to different grass types includes: a walking module 1 with a mounting housing 11; two detection modules 2, arranged opposite each other at the front end of the mounting housing 11; each detection module 2 has a detection rod 21 capable of detecting the hardness of the grass diameter; and a cutting module 3, vertically positioned at the front end of the walking module 1, comprising a first cutting unit 31 and a second cutting unit 32 capable of cutting weeds of different diameters, and a first driving unit 33 and a second driving unit 34 capable of alternately driving the first cutting unit 31 and the second cutting unit 32 to cut; the first cutting unit 31 has a storage tray 311 and a cutting rope 312 that can be thrown out of the storage tray 311 under centrifugal force, and a winding tray 313 capable of winding the cutting rope 312 back into the storage tray 311 in a non-centrifugal state; the proximal end of the cutting rope 312 is fixedly connected to the winding tray 313, and the distal end of the cutting rope 312 extends out and is placed outside the storage tray 311.

[0026] When it is necessary to perform automated weed cutting in the target area, the external power supply is first connected to drive the walking module 1 to move. The walking module 1 controls the mowing robot to autonomously travel along the set path to the area to be cut through the built-in path planning unit and obstacle avoidance sensor. Then, the detection module 2 is driven to move to detect the stem diameter, density and reflectivity of the target grass in real time.

[0027] After detection, the system automatically drives the cutting module 3 to operate. The cutting module 3 contains two independent cutting units: a first cutting unit 31 and a second cutting unit 32. Both the first driving unit 33 and the second driving unit 34 use high-response servo motors as their power source. The control system selects and drives the corresponding cutting unit in real time based on the grass quality data output by the detection module 2: when fine or flexible grass is detected, the first cutting unit 31 is driven, with a higher cutting speed and lower torque to achieve efficient and smooth trimming; when dense or hard weeds are detected, the system automatically switches to drive the second cutting unit 32, which is equipped with enhanced torque output and wear-resistant blades to ensure stable cutting performance under high resistance conditions.

[0028] Through the aforementioned workflow of automatic detection and coordinated control of dual cutting units, the entire mowing process achieves fully automatic closed-loop control of grass quality identification, parameter matching, and cutting execution.

[0029] By linking the detection module 2 and the cutting module 3 together, and combining them with a multi-stage cutting structure driven by dual servo motors, the cutting height, speed and torque can be adaptively adjusted under different grass conditions. This not only effectively improves mowing efficiency and cutting quality, and avoids motor overload or blade wear caused by differences in grass quality, but also significantly reduces the need for manual intervention, enabling the mowing robot to operate intelligently and autonomously.

[0030] When the system detection unit determines that the current grass is soft, fine grass or low-density grass, the control system drives the first cutting unit 31 to enter the working state according to the detection signal. First, an external power supply is connected to start the first drive unit 33. The first drive unit 33 is preferably a high-speed brushless servo motor, and its output end is coaxially fixedly connected to the storage disk 311 through a coupling. With the start of the first drive unit 33, the storage disk 311 achieves high-speed and stable rotation under the drive of the servo motor.

[0031] When the storage disk 311 is rotating at high speed, the high-strength cutting rope 312, wound on its outer edge reel 313, is dynamically thrown out under centrifugal force, forming a ring-shaped rotating cutting zone on the outer edge. This cutting zone, under the combined action of the rotation radius and the tension of the cutting rope 312, forms a cutting plane with a certain cutting rigidity, enabling uniform cutting of grass clumps of different densities while ensuring flexibility and safety. When the cutting rope 312 contacts the weeds, the tangential velocity and inertial force generated during its high-speed rotation can quickly sever the grass stems, achieving efficient trimming of the weeds to be cut.

[0032] In addition, the storage disk 311 and the winding disk 313 are connected by a limiting ring and an automatic rewinding device, which can automatically retract the outward-swinging cutting rope 312 when the motor stops or decelerates, preventing the rope from getting tangled or exposed, and improving structural safety and service life.

[0033] By adopting a high-speed rotating storage disk 311 structure with servo drive as the core, the cutting rope 312 is automatically thrown out under the action of centrifugal force to form a dynamic cutting zone. This not only achieves efficient trimming of flexible, fine-grained grass, but also avoids the energy waste and cutting damage caused by traditional metal blades in light grass conditions.

[0034] Referring to Figures 3 and 5: the cutting module 3 also includes a vertical reciprocating driver 35 capable of longitudinally driving the second cutting unit 32 to the cutting station; the vertical reciprocating driver 35 is fixedly disposed in the mounting housing 11 in a vertical state, and the second cutting unit 32 is fixedly disposed at the driving end of the vertical reciprocating driver 35 in a vertical state.

[0035] After the detection unit performs real-time detection on the grass quality of the target area, if the detection data indicates that the grass to be cut is hard or coarse-diameter weeds, the control system automatically issues a switching command based on the detection results, driving the second cutting unit 32 into working mode. At this time, an external power supply is first connected to drive the vertical reciprocating driver 35 to move, thereby driving the second cutting unit 32 longitudinally along the set guide rail to achieve smooth downward movement.

[0036] Driven by the vertical reciprocating actuator 35, the second cutting unit 32 descends precisely vertically and ultimately coaxially covers the outside of the first cutting unit 31, forming a nested cutting structure. This ensures the concentricity of the axes during the descent and prevents swaying during cutting. Subsequently, the control system drives the second drive unit 34, which uses a high-torque servo motor to drive the blade assembly of the second cutting unit 32 to rotate at high speed via a connected transmission shaft. At this time, under the action of large torque and stable cutting force, the second cutting unit 32 can efficiently cut coarse-diameter, dense, or high-strength grasses, achieving complete removal of weeds.

[0037] By setting up a vertical reciprocating driver 35 in conjunction with a high-torque servo drive structure, the second cutting unit 32 can automatically move down and coaxially fit around the first cutting unit 31 based on detection data, thereby achieving rapid and stable switching between cutting units under different grass conditions. This design not only ensures the device's cutting capability under different grass conditions and improves the system's adaptability and operational continuity, but also effectively avoids the tedious operation of manually changing blades.

[0038] Referring to Figures 6 and 7: the first cutting unit 31 further includes a torsion spring 314 capable of providing reverse torque to the storage tray 311 at all times; the take-up reel 313 is coaxially rotatably disposed within the storage tray 311; the torsion spring 314 is coaxially disposed at the bottom of the take-up reel 313 and its two ends respectively abut against a first protrusion 315 and a second protrusion 316 fixedly disposed at the bottom of the take-up reel 313 and within the storage tray 311.

[0039] When the equipment is not in cutting operation, the take-up reel 313 is pre-tensioned by a torsion spring 314 mounted on its shaft. The output end of the torsion spring 314 is fixedly connected to the take-up reel 313, and its energy storage direction is set to counterclockwise. Therefore, when no power is supplied or the cutting unit is not in operation, the torsion spring 314 always drives the take-up reel 313 to continuously generate a counterclockwise rotational torque with a preset torque. After this rotational torque acts on the take-up reel 313, it causes the take-up reel 313 to automatically rewind the cutting rope 312 wound around its outer edge in the opposite direction, thereby realizing the self-retraction function of the cutting rope 312 in a static state. This ensures that the cutting rope 312 is stably embedded in the annular groove of the storage reel 311, avoiding safety hazards such as entanglement or swinging caused by exposure or looseness.

[0040] When the system enters the working state and needs to extend the cutting rope 312 for grass cutting, the control unit drives the first cutting unit 31 to work, and the first drive motor drives the storage disk 311 to rotate at high speed clockwise. At this time, the clockwise rotation direction of the storage disk 311 is opposite to the counterclockwise winding torque of the torsion spring 314. The torsion spring 314 is synchronously twisted to store energy, causing the cutting rope 312 to be evenly thrown out from the outer edge of the storage disk 311 under the action of centrifugal force, forming a ring-shaped high-speed rotating cutting zone. Through the flexible stretching of the cutting rope 312 and the high-speed centrifugal effect, efficient cutting of grass can be achieved without damaging the ground surface.

[0041] After the cutting process is completed, when the first drive unit 33 stops working or the speed decreases, the torsion spring 314 releases its stored energy and drives the winding reel 313 to rotate counterclockwise, automatically winding the thrown cutting rope 312 back into the storage reel 311, thus achieving rapid reset and anti-tangling functions.

[0042] By incorporating a torsion spring 314-driven winding reel 313 structure, the cutting rope 312 can be automatically retracted in the non-working state and automatically ejected by centrifugal force in the working state, forming a flexible cutting system that is "self-retracting, self-releasing, and self-resetting." This structure not only effectively improves the service life and operational safety of the cutting unit and prevents the cutting rope 312 from spinning and tangling, but also achieves energy recovery and torque balance.

[0043] As shown in Figure 7, the storage disk 311 is also provided with two third protrusions 317 that are relatively vertically arranged to limit the maximum centrifugal stroke of the take-up disk 313.

[0044] Two third protrusions 317 are perpendicularly arranged on the inner wall of the winding reel 313. The two third protrusions 317 are located on the radial sides of the winding reel 313 and are spaced apart from each other to limit the maximum stroke of the cutting rope 312 during the extension and winding process. Specifically, one end of the third protrusion 317 serves as the termination point for the release of the cutting rope 312. When the storage reel 311 rotates at high speed, the cutting rope 312 is thrown out under the action of centrifugal force. When the length thrown out reaches the preset maximum extension stroke, the root of the cutting rope 312 will contact the first and third protrusions 317, thereby forming a physical limit to prevent the cutting rope 312 from over-stretching and causing tension imbalance, breakage, or entanglement.

[0045] Conversely, when the first drive unit 33 stops working and the winding reel 313 rewinds under the rebound force of the torsion spring 314, the cutting rope 312 will be gradually stored inside the storage reel 311 during the retrieval process. When the cutting rope 312 is completely wound to the predetermined position, the second and third protrusions 317 will form a contact limit with the tail end of the cutting rope 312, thereby preventing the winding reel 313 from continuing to rotate in the opposite direction and avoiding excessive bending, flattening or embedding of the cutting rope 312 into the reel groove due to over-winding, which would affect the smoothness and safety of the next rope release.

[0046] Through the synergistic effect of two relatively arranged third protrusions 317, dynamic limit control of the extension and retraction of the cutting rope 312 is achieved throughout the entire process, ensuring that the extension and retraction of the cutting rope 312 always takes place within a safe and controllable mechanical range, and can adapt to working conditions of high-speed rotation and frequent reciprocating operation.

[0047] By incorporating two relatively vertical third protrusions 317 inside the winding reel 313, a bidirectional stroke limiting structure is formed for the stretching and rewinding of the cutting rope 312. This effectively prevents the cutting rope 312 from overstretching and breaking during high-speed rotation, and also avoids excessive folding and compression during winding, significantly improving the service life and winding stability of the cutting rope 312. Furthermore, this structure achieves passive mechanical limiting without complex sensor control, offering advantages such as rapid response, compact structure, and high reliability.

[0048] As shown in Figure 7, the end of the cutting rope 312 is also fixedly provided with a limiting ball 318 that can limit the cutting rope 312 to retract into the storage disk 311.

[0049] A limiting ball 318 is fixedly connected to the end of the cutting rope 312. The outer diameter of the limiting ball 318 is larger than the inner diameter of the rope outlet of the storage tray 311, which is used to limit the travel of the cutting rope 312 during the winding and unwinding process. Specifically, when the first drive unit 33 stops working and the winding tray 313 rotates in the opposite direction under the action of the torsion spring 314 and drives the cutting rope 312 to retract, when the cutting rope 312 is wound back to the end inside the storage tray 311, the limiting ball 318 will abut against the inner edge of the rope outlet, thereby forming a physical limit to prevent the cutting rope 312 from being over-wound and entering the tray cavity, and to avoid malfunctions such as jamming, knotting or breaking of the cutting rope 312 due to over-winding.

[0050] Conversely, when the first drive unit 33 starts and drives the storage disk 311 to rotate clockwise at high speed, the limiting ball 318, as a counterweight at the end of the cutting rope 312, provides additional tension and inertial torque to the cutting rope 312 under centrifugal force. This allows the cutting rope 312 to be quickly thrown out of the disk to form a stable cutting radius, thereby accelerating the formation speed of the cutting zone and improving the start-up response sensitivity. At the same time, the weight and shape design of the limiting ball 318 take into account aerodynamic balance, which can maintain the stability of the cutting rope 312 during high-speed rotation and prevent the rope from shaking or swaying.

[0051] By fixing a limiting ball 318 to the end of the cutting rope 312, a two-way limiting and power-assisted function for the cutting rope 312 during the winding and unwinding processes is achieved. On the one hand, this structure can effectively prevent the cutting rope 312 from being excessively sucked into the storage tray 311 during winding, avoiding rope entanglement or jamming; on the other hand, during the unwinding stage, the limiting ball 318 provides the necessary end counterweight for the cutting rope 312, enabling it to be quickly thrown out and form a stable cutting zone, thereby improving the cutting response speed and cutting efficiency.

[0052] Referring to Figure 8: The second cutting unit 32 includes a fixed frame 321, a cutting blade 322, a rotating frame 323, and a connecting frame 324; the vertical reciprocating drive 35 is vertically fixed in the mounting housing 11 via the fixed frame 321; the connecting frame 324 is horizontally fixed at the drive end of the vertical reciprocating drive 35, and the connecting frame 324 is coaxially arranged with the first cutting unit 31; the rotating frame 323 is coaxially rotatably arranged at the bottom of the connecting frame 324; the cutting blade 322 is coaxially fixed at the bottom of the rotating frame 323.

[0053] When the second cutting unit 32 needs to be driven to cut coarser or denser grass, an external power supply is first connected to drive the vertical reciprocating driver 35. The output end of the vertical reciprocating driver 35 moves downward along the axial direction, causing the second cutting unit 32 to descend vertically as a whole, so that its cutting components are coaxially covered outside the first cutting unit 31, thereby forming an outer cutting protection and double-layer cutting combination structure. At this time, the second cutting unit 32 enters the preset cutting position.

[0054] Subsequently, the second drive unit 34 is activated, and its output shaft drives the rotating frame 323 to rotate at high speed. During the rotation of the rotating frame 323, the cutting blade 322 mounted on it simultaneously receives rotational driving force, forming a stable high-speed cutting field. Because the cutting blade 322 is made of high-strength wear-resistant alloy material or coated steel sheet, it has high cutting force and impact resistance, thus enabling efficient cutting of large-diameter, densely fibrous, or weed-containing grass clumps. At the same time, the rotational inertia of the rotating frame 323 also plays a role in vibration absorption and blade stabilization during the cutting process, effectively reducing blade wobble and improving cutting accuracy and balance.

[0055] To further improve operational stability, the coaxial mounting structure between the second cutting unit 32 and the first cutting unit 31 ensures that their cutting trajectories are completely overlapped in the vertical direction, avoiding the off-cut phenomenon caused by switching cutting units, thereby ensuring smooth cutting transition and good operational continuity.

[0056] Through the coordinated control of the vertical reciprocating actuator 35 and the second drive unit 34, the second cutting unit 32 can automatically move down to the cutting position and operate at high speed when needed, thereby efficiently cutting coarse-diameter, dense grass, or weeds. This structure enables the device to have dynamic cutting adaptive capabilities, allowing for rapid switching between different grass types while ensuring the stability and accuracy of the cutting process.

[0057] Referring to Figure 2: The detection module 2 also includes a connecting shaft 22 and a torque sensor 23 capable of detecting the rotational torque of the connecting shaft 22 in real time; the connecting shaft 22 is fixedly mounted vertically inside the mounting housing 11 and near the front end of the mounting housing 11 via the torque sensor 23; the detection rod 21 is coaxially fixed outside the connecting shaft 22 and near the bottom of the connecting shaft 22.

[0058] The horizontal plane of the detection rod 21 is set below the lowest horizontal plane of the first cutting unit 31.

[0059] When weeds need to be cut in a target area, the walking module 1 is first activated by connecting to an external power source, driving the entire machine to autonomously move along a preset path to the area to be cut. During the movement, the detection module 2, located at the front or bottom of the machine body, simultaneously enters the working state. The detection rod 21 within it rotates continuously due to the resistance of the weed blades when it comes into contact with the weeds. Because different types of weeds, such as fine weeds, dense weeds, or coarse-stemmed weeds, generate different resistances when they come into contact with the detection rod 21, the rotational torque of the detection rod 21 also varies accordingly.

[0060] The rotational torque of the detection rod 21 is collected and monitored in real time by a high-precision torque sensor 23. The sensor converts the detected torque signal into an electrical signal and transmits it to the control unit. The control unit intelligently judges and classifies the diameter, density, and hardness of the weeds in the current plot based on the amplitude of torque changes, fluctuation frequency, and average torque value. When the detection results show that the weed diameter is relatively large or the density is relatively high in the current area, the system can pre-adjust the working parameters of the cutting unit according to the identification results, such as automatically increasing the cutting torque, adjusting the blade speed, or increasing the cutting height, thereby achieving dynamic adaptive control for different weed types.

[0061] The detection module 2 adopts a real-time data closed-loop feedback design, which can continuously monitor changes in the surface grass quality during the movement, realize instant response and parameter matching for grass conditions in different areas, and enable the mowing robot to automatically complete grass quality identification and cutting strategy adjustment without human intervention.

[0062] Through the coordinated action of the detection rod 21 and the torque sensor 23, real-time perception and adaptive judgment of the grass texture characteristics of the area to be cut are achieved. This solution can accurately identify the differences in grass diameter and density based on the detected changes in rotational torque, providing a reliable control basis for the subsequent cutting module 3, thereby realizing dynamic adjustment of cutting height, torque and blade speed.

[0063] This invention can automatically adjust the cutting state according to different grass types, resulting in high cutting efficiency and good effect.

[0064] The above embodiments only illustrate one or more implementations of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of the present invention should be determined by the appended claims.

Claims

1. A modular device for a lawn mowing robot that can adapt to different grass textures, characterized in that, include: The system includes a walking module with a mounting housing; two detection modules, positioned opposite each other at the front end of the mounting housing; each detection module has a detection rod capable of detecting the hardness of grass stems; and a cutting module, vertically centered at the front end of the walking module, comprising a first cutting unit and a second cutting unit capable of cutting weeds of different diameters, and a first drive unit and a second drive unit capable of alternately driving the first and second cutting units to cut; the first cutting unit includes a storage tray and a cutting rope that can be thrown out of the storage tray under centrifugal force, and a winding tray capable of winding the cutting rope back into the storage tray in a non-centrifugal state; the proximal end of the cutting rope is fixedly connected to the winding tray, and the distal end of the cutting rope extends out and is placed outside the storage tray; the cutting module also includes a vertical reciprocating driver capable of longitudinally driving the second cutting unit to the cutting position; the vertical reciprocating driver is vertically fixedly installed inside the mounting housing, and the second cutting unit is vertically fixedly installed at the drive end of the vertical reciprocating driver.

2. The modular device for a grass-mowing robot adaptable to different grass types according to claim 1, characterized in that, The first cutting unit further includes a torsion spring capable of always providing reverse torque to the storage tray; the take-up reel is coaxially rotatably disposed within the storage tray; the torsion spring is coaxially disposed at the bottom of the take-up reel and its two ends respectively abut against a first protrusion and a second protrusion fixedly disposed at the bottom of the take-up reel and within the storage tray.

3. The modular device for a grass-mowing robot adaptable to different grass types according to claim 1, characterized in that, The storage disk also has two third protrusions arranged vertically to limit the maximum centrifugal stroke of the winding reel.

4. The modular device for a grass-mowing robot adaptable to different grass types according to claim 1, characterized in that, The end of the cutting rope is also fixedly provided with a limiting ball that can limit the cutting rope from retracting into the storage tray.

5. The modular device for a grass-mowing robot adaptable to grass texture according to claim 1, characterized in that, The second cutting unit includes a fixed frame, a cutting blade, a rotating frame, and a connecting frame; the vertical reciprocating drive is vertically fixed inside the mounting housing via the fixed frame; the connecting frame is horizontally fixed to the drive end of the vertical reciprocating drive, and the connecting frame is coaxially arranged with the first cutting unit; the rotating frame is coaxially rotatably arranged at the bottom of the connecting frame; the cutting blade is coaxially fixed at the bottom of the rotating frame.

6. A modular device for a grass-mowing robot adaptable to grass texture according to any one of claims 1-5, characterized in that, The detection module also includes a connecting shaft and a torque sensor capable of real-time monitoring of the rotational torque of the connecting shaft; the connecting shaft is fixedly mounted vertically inside the mounting housing via the torque sensor and is positioned near the front end of the mounting housing; the detection rod is coaxially fixed outside the connecting shaft and is positioned near the bottom of the connecting shaft.

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