Mowing robot

Abstract

The utility model provides a mowing robot. The mowing robot comprises a main body bracket, two omnidirectional wheels, two driving wheels, four driving motors and a driving control system, the main body bracket comprises a first end and a second end; the first end and the second end are oppositely arranged; the two omnidirectional wheels are arranged at the first end; the two driving wheels are arranged at the second end; the rated powers of the four driving motors are the same; the four driving motors are arranged in one-to-one correspondence with the two omnidirectional wheels and the two driving wheels; each driving motor is connected with the corresponding omnidirectional wheel and drives the omnidirectional wheel to rotate or is connected with the corresponding driving wheel and drives the driving wheel to rotate; the driving control system is used for being connected with the four driving motors and controlling the rotating speed of the two omnidirectional wheels and the rotating speed of the two driving wheels by controlling the input currents of the four driving motors. Therefore, the four driving motors with the same rated power are adopted, the situation that the grass is deep, the resistance is large, and consequently slipping occurs can be overcome, and the advancing speed of the mowing robot is guaranteed.

Description

[0001] This application is a divisional application. The application number of the original application is 2023224768027, the application date is 2023-09-11, and the name of the invention is “Mowing Robot”. Technical Field

[0002] The present application relates to the field of robots, and in particular to a lawn mowing robot. Background Art

[0003] Existing lawn mower robots are generally rear-wheel driven and front-wheel driven. Such lawn mower robots have no problem running on hardened roads. However, when running on grass, the friction on the grass is greater than that on the hardened road, especially in places where the grass grows lushly, the friction is greater. In addition, the rotation resistance of the front wheel on the inside is large when turning, so it is easy to slip. When slipping occurs, the rear wheel drive needs to provide a larger torque to overcome the friction, resulting in serious grass grinding by the rear wheel. Utility Model Content

[0004] In view of this, the present application provides a lawn mowing robot to solve the technical problem of the lawn mowing robot slipping when turning.

[0005] The lawn mowing robot provided by the present application comprises a main body support, two omnidirectional wheels, two driving wheels, four driving motors and a driving control system. The main body support comprises a first end and a second end. The first end and the second end are arranged opposite to each other. The two omnidirectional wheels are arranged on the first end. The two driving wheels are arranged on the second end. The rated power of the four driving motors is the same. The four driving motors are arranged in a one-to-one correspondence with the two omnidirectional wheels and the two driving wheels. Each of the driving motors is connected to the corresponding omnidirectional wheel and drives the omnidirectional wheel to rotate, or is connected to the corresponding driving wheel and drives the driving wheel to rotate. The driving control system is used to connect to the four driving motors, and control the rotation speed of the two omnidirectional wheels and the two driving wheels by controlling the magnitude of the input current of each of the four driving motors.

[0006] Thus, in the present application, the lawn mower robot is four-wheel drive and uses four drive motors with the same rated power. The drive control system can control the speed of the two omnidirectional wheels and the two drive wheels by controlling the input current of each of the four drive motors, forcing one or more of the sliding friction between the two omnidirectional wheels and the two drive wheels and the ground to be converted into rolling friction to avoid slipping, or adjusting the speed of each of the two omnidirectional wheels and the two drive wheels to adjust the travel speed of the lawn mower robot when both the two omnidirectional wheels and the two drive wheels are not slipping with the ground, so as to overcome the resistance between the two omnidirectional wheels and the two drive wheels of the lawn mower robot and the ground and ensure the travel speed of the lawn mower robot. Even in places where the grass is deep and the resistance is relatively large, it can move normally without slipping, thereby enhancing the mowing ability of the lawn mower robot and avoiding damage to the lawn. In addition, compared with the traditional lawn mower robot with four drive wheels, the lawn mower robot of the present application uses omnidirectional wheels for the front wheels and drive wheels for the rear wheels. Since the weight of the omnidirectional wheels is less than that of the drive wheels, the weight of the entire lawn mower robot can be reduced. Moreover, the omnidirectional wheels have a greater degree of freedom, so the wear on the lawn can be reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0008] Figure 1 This is a top view of the lawn mowing robot in the first embodiment of the present application.

[0009] Figure 2 This is a schematic diagram of an exploded view of the lawn mowing robot in the first embodiment of the present application.

[0010] Figure 3 Schematic diagram of the modules of the lawn mowing robot in the first embodiment of the present application.

[0011] Figure 4 This is a schematic diagram of the three-dimensional structure of the connection between the front axle, front drive motor and omnidirectional wheel in the first embodiment of the present application.

[0012] Figure 5 Please refer to the side view of the omnidirectional wheel in the first embodiment.

[0013] Figure 6 It is a schematic diagram of the three-dimensional structure of the connection between the rear axle, the rear drive motor and the drive wheel in the first embodiment of the present application.

[0014] Figure 7This is a top view of the lawn mower robot in the second embodiment of the present application when the central axis of the driving wheel is perpendicular to the symmetry axis of the lawn mower robot.

[0015] Figure 8 This is a top view of the lawn mower robot in the second embodiment of the present application when the central axis of the driving wheel intersects with the symmetry axis of the lawn mower robot but is not perpendicular. DETAILED DESCRIPTION

[0016] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments.

[0017] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0018] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. Similar words such as "one", "an", or "the" used in this application do not indicate a quantitative limitation, but are only used to indicate the existence of at least one. Similar words such as "include" or "comprise" mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Similar words such as "connected" or connected are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect.

[0019] In the description of this specification, the description with reference to the terms "embodiment", "specific embodiment", "example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0020] Please refer to Figure 1 , Figure 1 1 is a top view of the lawn mower robot 1 in the first embodiment of the present application. The lawn mower robot 1 is a robot capable of automatically mowing the lawn. Its working principle is to identify the contours and obstacles of the lawn through built-in sensors and mow the lawn using a pre-set route.

[0021] Please refer to Figure 2 and Figure 3, Figure 2 is an exploded schematic diagram of the lawn mowing robot 1 in the first embodiment of the present application; Figure 3 Schematic diagram of the module of the mowing robot 1 in the first embodiment of the present application. The mowing robot 1 includes a main frame 11, two omnidirectional wheels 12, two driving wheels 13, four driving motors 14 and a driving control system 15. The main frame 11 includes a first end 111 and a second end 112. The first end 111 and the second end 112 are arranged relative to each other. The two omnidirectional wheels 12 are arranged on the first end 111. The two driving wheels 13 are arranged on the second end 112. The rated power of the four driving motors 14 is the same. The four driving motors 14 are arranged in a one-to-one correspondence with the two omnidirectional wheels 12 and the two driving wheels 13. Each driving motor 14 is connected to the corresponding omnidirectional wheel 12 and drives the omnidirectional wheel 12 to rotate, or is connected to the corresponding driving wheel 13 and drives the driving wheel 13 to rotate. The driving control system 15 is used to connect with the four driving motors 14, and control the rotation speed of the two omnidirectional wheels 12 and the two driving wheels 13 by controlling the magnitude of the input current of each of the four driving motors 14.

[0022] Therefore, in the present application, the lawn mower robot 1 is four-wheel drive and uses four drive motors 14 with the same rated power. The drive control system 15 can control the rotation speed of the two omnidirectional wheels 12 and the two drive wheels 13 by controlling the magnitude of the input current of each of the four drive motors 14, forcing one or more of the sliding friction between the two omnidirectional wheels 12 and the two drive wheels 13 and the ground to be converted into rolling friction to avoid slipping, or adjust the rotation speed of each of the two omnidirectional wheels 12 and the two drive wheels 13 when they are not slipping with the ground, and then adjust the travel speed of the lawn mower robot 1, so as to overcome the resistance between the two omnidirectional wheels 12 and the two drive wheels 13 and the ground and ensure the travel speed of the lawn mower robot 1. Even in places where the grass is deep and the resistance is relatively large, the lawn mower robot 1 can move normally without slipping, thereby enhancing the mowing ability of the lawn mower robot 1 and avoiding damaging the lawn. In addition, compared to the traditional lawn mower robot whose four wheels are all drive wheels, the lawn mower robot 1 of the present application uses omnidirectional wheels 12 for the front wheels and drive wheels 13 for the rear wheels. Since the weight of the omnidirectional wheels 12 is less than that of the drive wheels 13, the overall weight of the lawn mower robot 1 can be reduced. Moreover, the omnidirectional wheels 12 have a greater degree of freedom, thereby reducing the wear on the lawn.

[0023] Among them, please refer to Figure 4 The omnidirectional wheel 12 has at least two degrees of freedom. Compared with a conventional rubber tire with only one degree of freedom, the additional degree of freedom of the omnidirectional wheel 12 is located on the tire tread, that is, it can rotate by contacting the ground, and the rotating surface forms a certain angle with the rotating surface of the conventional rubber tire with only one degree of freedom. The omnidirectional wheel 12 can be, but is not limited to, a continuously switching wheel or a Mecanum wheel.

[0024] In this embodiment, the omnidirectional wheel 12 is a continuously switching wheel. The omnidirectional wheel 12 includes a wheel hub 120 and a plurality of auxiliary wheels 125, and the plurality of auxiliary wheels 125 are arranged on the wheel hub 120 at intervals. When the omnidirectional wheel 12 moves forward, the wheel hub 120 rotates around the central axis of the omnidirectional wheel 12, and the wheel hub 120 drives the auxiliary wheels 125 to rotate around the central axis of the omnidirectional wheel 12 as a whole. When the omnidirectional wheel 12 turns, not only can the wheel hub 120 rotate around the central axis of the omnidirectional wheel 12, the wheel hub 120 can drive the auxiliary wheels 125 to rotate around the central axis of the omnidirectional wheel 12 as a whole, but also the auxiliary wheels 125 can rotate relative to the wheel hub 120 with the wheel hub 120 as the rotation axis. Therefore, the omnidirectional wheel 12 has an additional degree of freedom to roll around the wheel hub 120 relative to the driving wheel 13.

[0025] In some embodiments, the omnidirectional wheel 12 is a single-row wheel, a coaxially arranged double-row wheel, or a coaxially arranged multiple-row wheel. In this embodiment, the omnidirectional wheel 12 is a double-row wheel. Figure 4 and Figure 5 The double-row wheel includes an axle 123 and two wheels 124. The two wheels 124 are connected to the axle 123. Each wheel 124 includes a hub 120 and a plurality of auxiliary wheels 125. The auxiliary wheels 125 of each wheel 124 are arranged on the hub 120 of the wheel 124 at intervals. Moreover, the projections of the two wheels 124 in the vertical plane of the axis of the axle 123 partially overlap. When the double-row wheel rotates until the auxiliary wheels 125 of the two wheels 124 touch the ground at the same time, the unit pressure of the auxiliary wheels 125 on the ground can be reduced compared to the case where a single auxiliary wheel 125 touches the ground, thereby reducing damage to the lawn. In addition, the rotation of the auxiliary wheels 125 is conducive to throwing out the debris in the gap between the auxiliary wheels 125 and their axle 123, thereby improving the flexibility of operation. Please also refer to Figure 5 The auxiliary wheels 125 on different wheels 124 are staggered to form a complete circle, which can improve the smoothness of movement and avoid unevenness during rotation. In other embodiments, the omnidirectional wheel 12 can be a multi-row wheel, which includes a wheel axle and a plurality of wheels, and the plurality of wheels are connected to the wheel axle. Each wheel includes a hub and a plurality of auxiliary wheels. The auxiliary wheels of each wheel are arranged on the hub of the wheel at intervals. The auxiliary wheels on different wheels are staggered to form a complete circle, which can improve the smoothness of movement and avoid unevenness during rotation.

[0026] Among them, please refer to Figure 6 The driving wheel 13 is a conventional rubber tire with only one degree of freedom, that is, it rotates around the central axis of the driving wheel 13. Similarly, each driving wheel 13 can include a rubber tire or two or more rubber tires arranged coaxially, which is not limited here.

[0027] In some embodiments, please refer again to Figure 2, the motor models of the four drive motors 14 are the same. In other words, all parameters of the four drive motors 14 are the same.

[0028] Therefore, it is convenient to select and prepare the model of the driving motor 14 , and it is also convenient to install the driving motor 14 on the lawn mowing robot 1 .

[0029] In some embodiments, the drive motor 14 may be, but is not limited to, a hub motor, a conventional motor plus a gear-driven drive motor, etc.

[0030] In some embodiments, the rated torques of the four drive motors 14 are the same, wherein the rated torque refers to the torque output by the drive motor 14 at the rated power. A motor having a rated torque of less than 0.3 Nm is defined as a low-torque motor. Generally speaking, the output torque of the drive motor 14 can also be amplified after gear reduction. For example, in an exemplary embodiment, the drive motor 14 is a hub motor, and the torque of the hub motor at the rated output power is 0.24 Nm, and the torque output by the hub motor at the rated output power can reach 2.4 Nm after gear reduction. In this embodiment, the four drive motors 14 use hub motors with relatively small rated torques, for example, hub motors with a rated torque of 0.24 Nm. After testing, in the face of different mowing environments, in the case of different grass growth and different lodging conditions, turning or turning in place can be achieved, the power is sufficient, and the situation of slipping and grinding of grass can be avoided. Moreover, due to the selection of low-torque motors, the cost of the mowing robot 1 can be greatly reduced. It is understandable that in other embodiments, the drive motor 14 may be a motor with a rated torque greater than or equal to 0.3 Nm, which is not limited here.

[0031] In some embodiments, please refer again to Figure 2 The main frame 11 is in the shape of a big belly, which is wide in the middle and narrow at the front and rear ends. The direction parallel to the symmetry axis X of the lawn mower robot 1 is defined as M, wherein the direction indicated by the arrow of the direction M is the front, and the opposite direction to the direction indicated by the arrow of the direction M is the rear. In this embodiment, the first end 111 is located at the front end of the main frame 11. The lawn mower robot 1 includes a front axle 16, which is fixed on the first end 111. The extension direction of the front axle 16 is approximately perpendicular to the direction M. The two omnidirectional wheels 12 are respectively arranged on the opposite ends of the front axle 16 and are located on the opposite sides of the first end 111.

[0032] For some examples, please refer to Figure 4The front bridge 16 has an arched portion 161, and an axial hole 1611 is provided on the arched portion 161. The central axis of the axial hole 1611 is parallel to the direction M. The first end 111 of the main frame 11 has an axis (not shown) corresponding to the axial hole 1611, and the axis is parallel to the direction M. The front bridge 16 is connected to the first end 111 of the main frame 11 through the axial hole 1611 and the shaft. When the axial hole 1611 rotates relative to the shaft, the front bridge 16 can rotate around the shaft relative to the main frame 11, so that the lawn mowing robot 1 has a certain ability to adapt to uneven roads.

[0033] For some examples, please refer to Figure 2 and Figure 6 The second end 112 is located at the rear end of the main frame 11. The lawn mowing robot 1 includes a rear axle 17, which is fixed to the second end 112, and two driving wheels 13 are arranged on opposite ends of the rear axle 17 and located on opposite sides of the second end 112.

[0034] In other embodiments, the two omnidirectional wheels 12 are symmetrical with respect to the symmetry axis X of the lawn mower robot 1 and are tilted with respect to the symmetry axis X to form an "eight" shape.

[0035] When the driving motor 14 provides the same driving force to the omnidirectional wheels 12, the lawn mower robot 1 is easier to turn when the two omnidirectional wheels 12 are symmetrical and parallel to the symmetry axis X of the lawn mower robot 1 and are tilted in an eight-shaped shape, compared with the two omnidirectional wheels 12 being symmetrical and parallel to the symmetry axis X of the lawn mower robot 1.

[0036] In some embodiments, the drive control system 15 provides different speeds for the four drive motors 14 based on different working scenarios, wherein the different working scenarios include one of going straight, turning, turning on the spot, and climbing.

[0037] For some examples, please refer to Figure 1 , the two omnidirectional wheels 12 include a left omnidirectional wheel 121 and a right omnidirectional wheel 122. The two driving wheels 13 include a left driving wheel 131 and a right driving wheel 132. When the lawn mower robot 1 turns in situ, and the speed V1 of the left omnidirectional wheel 121 is equal to the speed V3 of the left driving wheel 131, and the speed V2 of the right omnidirectional wheel 122 is equal to the speed V4 of the right driving wheel 132, the instantaneous center of speed A of the lawn mower robot 1 is at the midpoint of the line connecting the center of the left driving wheel 131 and the center of the right driving wheel 132. This is because the speed of the omnidirectional wheel 12 when the lawn mower robot 1 turns is the combined speed of the first speed generated by the driving motor 14 driving the omnidirectional wheel 12 to rotate and the second speed generated by the auxiliary wheel 125 of the omnidirectional wheel 12 rolling. Among them, from Figure 1It can be seen from the figure that when the lawn mower robot 1 turns, the speed V1 of the left omnidirectional wheel 121 and the speed V2 of the right omnidirectional wheel 122 are in opposite directions, and the speed V3 of the left driving wheel 131 and the speed V4 of the right driving wheel 132 are in opposite directions.

[0038] In some embodiments, when the lawn mower robot 1 turns in place, the speed V3 of the left driving wheel 131 and the speed V4 of the right driving wheel 132 can be adjusted to make the speed center A of the lawn mower robot 1 float on the line connecting the center of the left driving wheel 131 and the center of the right driving wheel 132. For example, when the speed center A of the lawn mower robot 1 is at the midpoint of the line connecting the center of the left driving wheel 131 and the center of the right driving wheel 132, if the speed V3 of the left driving wheel 131 is adjusted to a small value and the speed V4 of the right driving wheel 132 is adjusted to a large value, the speed center A of the lawn mower robot 1 will be biased toward a certain point of the left driving wheel 131 on the line connecting the center of the left driving wheel 131 and the center of the right driving wheel 132; conversely, if the speed V3 of the left driving wheel 131 is adjusted to a large value and the speed V4 of the right driving wheel 132 is adjusted to a small value, the speed center A of the lawn mower robot 1 will be biased toward a certain point of the right driving wheel 132 on the line connecting the center of the left driving wheel 131 and the center of the right driving wheel 132.

[0039] When the lawn mower robot 1 is moving straight, the left driving wheel 131, the right driving wheel 132, the left omnidirectional wheel 121 and the right omnidirectional wheel 122 have the same speed. At this time, the lawn mower robot 1 can move forward or backward in a straight line.

[0040] When the lawn mower robot 1 turns, there are two situations: turning left and turning right. When the lawn mower robot 1 turns left, the speed of the left omnidirectional wheel 121 and the left driving wheel 131 on the inner side of the turn is lower than the speed of the right omnidirectional wheel 122 and the right driving wheel 132 on the outer side of the turn; when the lawn mower robot 1 turns right, the speed of the right omnidirectional wheel 122 and the right driving wheel 132 on the inner side of the turn is lower than the speed of the left omnidirectional wheel 121 and the left driving wheel 131 on the outer side of the turn.

[0041] When the lawn mower robot 1 climbs a slope, it can be divided into two situations: going straight and turning. When the lawn mower robot 1 goes straight, the speeds of the left drive wheel 131, the right drive wheel 132, the left omnidirectional wheel 121 and the right omnidirectional wheel 122 are the same. When the lawn mower robot 1 turns left, the speeds of the left omnidirectional wheel 121 and the left drive wheel 131 on the inside of the turn are less than the speeds of the right omnidirectional wheel 122 and the right drive wheel 132 on the outside of the turn; when the lawn mower robot 1 turns right, the speeds of the right omnidirectional wheel 122 and the right drive wheel 132 on the inside of the turn are less than the speeds of the left omnidirectional wheel 121 and the left drive wheel 131 on the outside of the turn. When the lawn mower robot 1 climbs a slope, the four drive motors 14 need to provide greater torque to overcome the gravitational potential energy.

[0042] In addition, when the lawn mower robot 1 moves on flat ground, it may encounter some scenes where the travel resistance is relatively large and the travel speed is relatively slow. Therefore, even if the drive motor 14 has the same output current, the actual travel speed obtained by the lawn mower robot 1 is also variable. Therefore, in some embodiments, the drive control system 15 is also used to:

[0043] Detecting the real-time rotation speeds of the two omnidirectional wheels 12 and the two driving wheels 13, and comparing them with the current corresponding target rotation speeds of the two omnidirectional wheels 12 and the two driving wheels 13;

[0044] Determine the wheel whose real-time rotation speed is less than the corresponding target rotation speed among the two omnidirectional wheels 12 and the two driving wheels 13 as the target wheel, and determine the driving motor 14 driving the target wheel as the target driving motor;

[0045] The input current is increased to the target drive motor so that the real-time rotation speed of the target wheel driven by the target drive motor approaches the target rotation speed.

[0046] It can be understood that the target speed refers to the speed assigned to the two omnidirectional wheels 12 and the two driving wheels 13 respectively after the mowing robot 1 determines its travel speed, in combination with the current operation scene, such as straight, turning, turning on the spot, climbing, etc. The drive control system 15 determines the input current of the two omnidirectional wheels 12 and the two driving wheels 13 respectively based on the target speeds of the two omnidirectional wheels 12 and the two driving wheels 13 respectively. The real-time speed refers to the actual speed of the drive motor 14 corresponding to the two omnidirectional wheels 12 and the two driving wheels 13 when they start working according to the determined input current. The amplitude of the input current added by the drive control system 15 to the target driving motor can be determined according to the difference between the real-time speed of the target wheel and the target speed. When the difference between the real-time speed of the target wheel and the target speed is relatively large, the drive control system 15 controls the increase of the amplitude of the input current of the target driving motor to increase. When the difference between the real-time speed of the target wheel and the target speed is relatively small, the drive control system 15 controls the increase of the amplitude of the input current of the target driving motor to be relatively small.

[0047] For some examples, please refer to Figure 7 , Figure 7This is a top view of the lawn mower robot in the second embodiment of the present application when the central axis of the driving wheel is perpendicular to the symmetry axis of the lawn mower robot. The lawn mower robot 1 in the second embodiment is similar in structure to the lawn mower robot 1 in the first embodiment, except that, in the second embodiment, the lawn mower robot 1 includes a steering motor 18, and the steering motor 18 is connected to the driving wheel 13. It can be understood that when the lawn mower robot 1 includes a steering motor 18, the steering motor 18 can be directly fixed to the second end 112 of the main bracket 11. In this case, the rear axle 17 can be omitted. The steering motor 18 can drive the driving wheel 13 to rotate while being inclined relative to the symmetry axis X of the lawn mower robot 1.

[0048] In this embodiment, the number of the steering motor 18 is one. The lawn mower robot 1 further includes a transmission mechanism 19. Both ends of the steering motor 18 are respectively connected to the left drive wheel 131 and the right drive wheel 132 through the transmission mechanism 19. Therefore, the rotation of the output shaft of the steering motor 18 can simultaneously drive the left drive wheel 131 and the right drive wheel 132 to rotate, so that the left drive wheel 131 and the right drive wheel 132 are inclined or parallel to the symmetry axis X of the lawn mower robot 1.

[0049] Specifically, in the present embodiment, the steering motor 18 includes a first connection end 181 and a second connection end 182. The first connection end 181 and the second connection end 182 are respectively located on opposite sides of the steering motor 18. The transmission mechanism 19 includes a first transmission mechanism 191 connected between the left driving wheel 131 and the first connection end 181 of the steering motor 18, and a second transmission mechanism 192 connected between the right driving wheel 132 and the second connection end 182 of the steering motor 18. Thus, the steering motor 18 drives the left driving wheel 131 to rotate to a predetermined angle relative to the symmetry axis X through the first transmission mechanism 191, and the steering motor 18 drives the right driving wheel 132 to rotate to a predetermined angle relative to the symmetry axis X through the second transmission mechanism 192.

[0050] For some examples, please refer to Figure 8 The first transmission mechanism 191 includes a first link 1911 and a second link 1912, one end of the first link 1911 is connected to the driving motor 14 for driving the left driving wheel 131, the other end of the first link 1911 is connected to one end of the second link 1912, and the other end of the second link 1912 is connected to the first connecting end 181 of the steering motor 18. The second transmission mechanism 192 includes a third link 1921 and a fourth link 1922, one end of the third link 1921 is connected to the driving motor 14 for driving the right driving wheel 132, the other end of the third link 1921 is connected to one end of the fourth link 1922, and the other end of the fourth link 1922 is connected to the second connecting end 182 of the steering motor 18.

[0051] Thus, the motion transmission between the steering motor 18 and the left driving wheel 131 is realized by the first transmission mechanism 191 including the first link 1911 and the second link 1912, and the motion transmission between the second transmission mechanism 192 and the right driving wheel 132 is realized by the second transmission mechanism 192 including the third link 1921 and the fourth link 1922.

[0052] In other embodiments, the number of the steering motors 18 may be two, that is, the steering motors 18 include a left steering motor and a right steering motor, the left steering motor is connected to the left driving wheel 131, and the right steering motor is connected to the right driving wheel 132. The left steering motor drives the left driving wheel 131 to rotate relative to the symmetry axis X, and the right steering motor drives the right driving wheel 132 to rotate relative to the symmetry axis X.

[0053] For some examples, please refer to Figure 8 , the central axis of the left driving wheel 131 intersects the central axis of the right driving wheel 132. When the speeds of the left omnidirectional wheel 121 and the left driving wheel 131 are equal, and the speeds of the right omnidirectional wheel 122 and the right driving wheel 132 are equal, the instantaneous center A of the speed of the lawn mowing robot 1 when rotating in situ is at the intersection of the central axis of the left driving wheel 131 and the central axis of the right driving wheel 132.

[0054] Therefore, when the left driving wheel 131 is inclined relative to the symmetry axis X and the right driving wheel 132 is inclined relative to the symmetry axis X, the lawn mower robot 1 is easier to turn than when the left driving wheel 131 is parallel to the symmetry axis X and the right driving wheel 132 is parallel to the symmetry axis X.

[0055] It should be noted that those skilled in the art should also be aware that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by this application. The drive control system may include a processor and a memory, wherein the processor may be a general-purpose processor, a digital signal processor, an application-specific integrated circuit, a readily available programmable gate array or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component. The memory is a mature storage medium in the art, such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, or the like.

[0056] The above is only a preferred implementation of the present application. It should be pointed out that a person skilled in the art can make several modifications and improvements without departing from the inventive concept of the present application, and these all fall within the scope of protection of the present application.

Claims

1. A lawn mowing robot, characterized in that: The lawn mower robot comprises a main frame, two omnidirectional wheels, two driving wheels, four driving motors and a driving control system; the main frame comprises a first end and a second end; the first end and the second end are arranged oppositely; the two omnidirectional wheels are arranged on the first end; the two driving wheels are arranged on the second end; the four driving motors are arranged in a one-to-one correspondence with the two omnidirectional wheels and the two driving wheels; each of the driving motors is connected to the corresponding omnidirectional wheel and drives the omnidirectional wheel to rotate or is connected to the corresponding driving wheel and drives the driving wheel to rotate; the driving control system is used to connect with the four driving motors and control the four driving motors to work respectively, the two omnidirectional wheels include a left omnidirectional wheel and a right omnidirectional wheel, the two driving wheels include a left driving wheel and a right driving wheel, and when the lawn mower robot turns in situ, by adjusting the speed of the left driving wheel and the speed of the right driving wheel, the speed instantaneous center of the lawn mower robot can float on the line connecting the center of the left driving wheel and the center of the right driving wheel.

2. The lawn mowing robot according to claim 1, characterized in that: The driving control system is used to control the driving motors corresponding to the left omnidirectional wheel and the right omnidirectional wheel to work and then control the rotation speeds of the left omnidirectional wheel and the right omnidirectional wheel to cooperate in achieving the on-the-spot turning.

3. The lawn mowing robot according to claim 1, characterized in that: The left omnidirectional wheel and the left driving wheel are driven by the corresponding driving motors to generate the same rotational speed, and the right omnidirectional wheel and the right driving wheel are driven by the corresponding driving motors to generate the same rotational speed.

4. The lawn mowing robot according to claim 3, characterized in that: When the lawn mower robot turns on the spot, the rotation speeds of the left drive wheel and the right drive wheel are equal, the rotation directions of the left omnidirectional wheel and the left drive wheel are the same, the rotation directions of the right omnidirectional wheel and the right drive wheel are the same, and the rotation direction of the left drive wheel is opposite to that of the right drive wheel, the instantaneous center of speed of the lawn mower robot is at the midpoint of the line connecting the left drive wheel and the right drive wheel.

5. The lawn mowing robot according to any one of claims 1 to 4, characterized in that: The lawn mowing robot also includes a steering motor, which is fixed on the second end of the main body bracket. The steering motor is connected to the left drive wheel and the right drive wheel. The steering motor can drive the left drive wheel and the right drive wheel to rotate in an inclined state or a parallel state relative to the symmetry axis of the lawn mowing robot.

6. The lawn mowing robot according to claim 5, characterized in that: The lawn mowing robot also includes a transmission mechanism, and the two ends of the steering motor are respectively connected to the left drive wheel and the right drive wheel through the transmission mechanism. The rotation of the output shaft of the steering motor can simultaneously drive the left drive wheel and the right drive wheel to rotate, so that the left drive wheel and the right drive wheel are inclined or parallel to the symmetry axis of the lawn mowing robot.

7. The lawn mowing robot according to claim 6, characterized in that: The steering motor includes a first connection end and a second connection end, wherein the first connection end and the second connection end are respectively located on opposite sides of the steering motor, and the transmission mechanism includes a first transmission mechanism connected between the left driving wheel and the first connection end of the steering motor and a second transmission mechanism connected between the right driving wheel and the second connection end of the steering motor.

8. The lawn mowing robot according to claim 7, characterized in that: The first transmission mechanism includes a first connecting rod and a second connecting rod, one end of the first connecting rod is connected to the driving motor for driving the left driving wheel, the other end of the first connecting rod is connected to one end of the second connecting rod, and the other end of the second connecting rod is connected to the first connecting end of the steering motor; and / or, the second transmission mechanism includes a third connecting rod and a fourth connecting rod, one end of the third connecting rod is connected to the driving motor for driving the right driving wheel, the other end of the third connecting rod is connected to one end of the fourth connecting rod, and the other end of the fourth connecting rod is connected to the second connecting end of the steering motor.

9. The lawn mowing robot according to claim 5, characterized in that: The steering motor includes a left steering motor and a right steering motor, the left steering motor is connected to the left drive wheel, the right steering motor is connected to the right drive wheel, the left steering motor drives the left drive wheel to rotate relative to the symmetry axis of the lawn mower robot, and the right steering motor drives the right drive wheel to rotate relative to the symmetry axis of the lawn mower robot.

10. The lawn mowing robot according to any one of claims 1 to 4, characterized in that: The omnidirectional wheels are single-row wheels, coaxially arranged double-row wheels, or coaxially arranged multiple-row wheels.

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