Intelligent robot for lawn pruning

Abstract

The intelligent robot comprises a robot body capable of walking freely and further comprises a mowing mechanism and a sensing mechanism which are assembled on the robot body, and the mowing mechanism comprises a mowing cutter used for mowing and a multi-degree-of-freedom driving platform arranged between the robot body and the mowing cutter. One end of the multi-degree-of-freedom driving platform is connected with the bottom of the robot body, the other end of the multi-degree-of-freedom driving platform is connected with the mowing cutter so that the mowing cutter can form multi-pose arrangement during mowing, and the sensing mechanism is used for sensing obstacles, a traveling path and the height of a lawn in real time so as to control the multi-degree-of-freedom driving platform to drive the mowing cutter to form corresponding poses. The mowing height of the mowing cutter can be adjusted in real time so as to prevent the mowed lawns from being uneven, and meanwhile, the path can be accurately planned.

Description

Technical Field

[0001] This utility model relates to the field of lawn mowing equipment technology, and in particular to an intelligent robot for lawn mowing. Background Technology

[0002] Currently, intelligent lawn mowing robots are commonly used in various settings such as home gardens, public green spaces, football fields, and golf courses. However, some intelligent lawn mowing robots cannot identify the grass, shrubs, swing equipment, etc. in front of them, which may cause some adverse effects. For example, factors such as uneven lawn surface and uneven grass growth density may result in uneven lawns after mowing, with significant differences in grass height in different areas, which seriously affects the smooth and aesthetically pleasing effect; they may also accidentally damage ornamental plants such as shrubs; or they may accidentally touch swing equipment and damage the blades.

[0003] In addition, when encountering lawns with steep slopes (such as the courtyards of some mountain villas, or park green spaces with slopes), the intelligent weeding robot may slip while moving. Utility Model Content

[0004] To address the aforementioned problems, this invention provides an intelligent robot for lawn mowing that can precisely plan its path and adjust the mowing height of the blades in real time to avoid uneven lawns after mowing.

[0005] To achieve the above objectives, the technical solution provided by this utility model is as follows:

[0006] This utility model provides an intelligent robot for lawn mowing, including a freely walking robot body, a mowing mechanism and a sensing mechanism assembled on the robot body; the mowing mechanism includes a mowing blade for mowing and a multi-degree-of-freedom drive platform disposed between the robot body and the mowing blade; one end of the multi-degree-of-freedom drive platform is connected to the bottom of the robot body, and the other end is connected to the mowing blade, so that the mowing blade can form multiple poses when mowing; the sensing mechanism is used to sense obstacles, the travel path and the height of the lawn in real time, so as to control the multi-degree-of-freedom drive platform to drive the mowing blade to form corresponding poses, so as to adjust the mowing height of the mowing blade in real time.

[0007] Furthermore, the multi-degree-of-freedom drive platform includes a static platform and a moving platform arranged vertically and horizontally, as well as multiple independently arranged telescopic drive components. The static platform is mounted on the robot body, and the moving platform is equipped with the mowing blade. One end of each of the multiple telescopic drive components is rotatably connected to the static platform, and the other end is rotatably connected to the moving platform, so as to drive the moving platform and the mowing blade to perform at least lateral and / or longitudinal and / or heave and / or roll and / or pitch and / or yaw movements.

[0008] Furthermore, the telescopic drive assembly includes a first Hooke hinge, a second Hooke hinge, and a servo driver. One end of the servo driver is rotatably connected to the stationary platform via the first Hooke hinge, and the other end is rotatably connected to the moving platform via the second Hooke hinge. The cutting disc of the mowing blade is rotatably disposed on the side of the moving platform away from the telescopic drive assembly, so that the cutting disc faces the ground.

[0009] Furthermore, multiple servo drives are arranged around the axis of the moving platform.

[0010] Furthermore, every two adjacent servo drives are arranged in a cross configuration.

[0011] Furthermore, the servo driver is a linear servo electric cylinder.

[0012] Furthermore, the sensing mechanism includes an ultrasonic sensor for obstacle avoidance, a binocular camera for tracking, and an ultra-wide-angle camera for monitoring the height of the lawn.

[0013] Furthermore, the robot body includes a vehicle body, wheels, and an independent suspension system, with the wheels mounted to the vehicle body via the independent suspension system.

[0014] Furthermore, the independent suspension system is a double wishbone independent suspension system or a multi-link independent suspension system.

[0015] Furthermore, it also includes a central control system, a vacuum cleaner, and a solar power generation component; the output ends of the sensing mechanism and the solar power generation component are respectively connected to the input end of the central control system, and the input ends of the mowing mechanism and the vacuum cleaner are respectively connected to the output end of the central control system; the solar power generation panel of the solar power generation component is located on the top of the robot body; the vacuum cleaner is located on the bottom of the robot body to collect the grass clippings formed after the mowing blades have cut the grass.

[0016] The technical solution provided by this utility model has the following beneficial effects:

[0017] The sensing mechanism can detect the grass height and obstacles ahead in real time, which facilitates accurate planning of the travel path. At the same time, the multi-degree-of-freedom drive platform can be controlled to drive the lawnmower blade to make corresponding movements, so as to adjust the cutting height of the lawnmower blade in real time, so as to avoid uneven lawn after mowing, thus ensuring a flat and beautiful lawn effect, and reducing the risk of accidentally damaging shrubs or other ornamental plants or damaging the lawnmower blade. Attached Figure Description

[0018] Figure 1 The image shown is a first-view schematic diagram of the intelligent robot used for lawn mowing in the embodiment.

[0019] Figure 2 The image shown is a second-view schematic diagram of the intelligent robot used for lawn mowing in the embodiment.

[0020] Figure 3 The diagram shown is a schematic of the multi-degree-of-freedom drive platform in the embodiment. Detailed Implementation

[0021] To further illustrate the various embodiments, the present invention provides accompanying drawings. These drawings are part of the disclosure of the present invention and are mainly used to illustrate the embodiments, and can be used in conjunction with the relevant descriptions in the specification to explain the operating principles of the embodiments. With reference to these drawings, those skilled in the art should be able to understand other possible implementations and the advantages of the present invention. Components in the drawings are not drawn to scale, and similar component symbols are generally used to represent similar components.

[0022] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments.

[0023] Reference Figures 1 to 3 As shown, this embodiment provides an intelligent robot for lawn mowing (hereinafter referred to as intelligent robot) to be applied in actual scenarios where lawn quality requirements are high, such as football fields and golf courses, and to ensure the overall aesthetics of the lawn after mowing.

[0024] like Figure 1 As shown, the intelligent robot in this embodiment includes a robot body 1 that can walk freely, as well as a mowing mechanism 2 and a sensing mechanism 3 assembled on the robot body 1. Of course, the robot body 1 is equipped with a general control system for coordinating various functional mechanisms or components. Therefore, the sensing mechanism 3 can achieve precise control of the movement of the robot body 1 and the mowing mechanism 2 respectively through the general control system.

[0025] The mowing mechanism 2 includes a mowing blade 21 for mowing grass and a multi-degree-of-freedom drive platform 22 disposed between the robot body 1 and the mowing blade 21. The upper end of the multi-degree-of-freedom drive platform 22 is connected to the bottom of the robot body 1, and the lower end of the multi-degree-of-freedom drive platform 22 is connected to the mowing blade 21, so that the mowing blade 21 can form a multi-position setting when mowing grass.

[0026] The sensing mechanism 3 is used to perceive obstacles, travel paths, and grass height in real time. Specifically, the sensing mechanism 3 includes an ultrasonic sensor 31 for obstacle avoidance, a binocular camera 32 for tracking, and an ultra-wide-angle camera 33 for monitoring grass height. This controls the multi-degree-of-freedom drive platform 22 to drive the mowing blade 21 to form the corresponding pose, thereby adjusting the mowing height of the mowing blade 21 in real time. It can also accurately plan the travel path and ensure that the robot body 1 moves according to the preset planned path.

[0027] In this embodiment, as Figure 2 and Figure 3 As shown, the multi-degree-of-freedom drive platform 22 includes a static platform 221 and a moving platform 222 arranged vertically, as well as six independently arranged telescopic drive components 223. The static platform 221 is mounted on the robot body 1, and the moving platform 222 is equipped with a lawnmower blade 21. Of course, in other embodiments, the number of telescopic drive components 223 can also be two, three, four, five, or six or more, and is not limited to this.

[0028] One end of each of the six telescopic drive components 223 is rotatably connected to the stationary platform 221, and the other end is rotatably connected to the moving platform 222, so as to drive the moving platform 222 and the grass-cutting blade 21 to make at least lateral and / or longitudinal and / or heave and / or roll and / or pitch and / or yaw movements.

[0029] The sensing mechanism 3 can detect the grass height and obstacles ahead in real time, which makes it easier to plan the path accurately. At the same time, the multi-degree-of-freedom drive platform 22 can be controlled to drive the mowing blade 21 to make corresponding movements, so as to adjust the mowing height and tilt of the mowing blade 21 in real time to avoid uneven lawn after mowing, thus ensuring the flat and beautiful effect of the lawn, and also reducing the risk of accidentally damaging shrubs or other ornamental plants or damaging the blade.

[0030] More specifically, such as Figure 3As shown, each telescopic drive assembly 223 includes a first Hooke hinge 2231, a second Hooke hinge 2232, and a servo driver 2233. The upper end of each servo driver 2233 is rotatably connected to the stationary platform 221 through the first Hooke hinge 2231, and the lower end of each servo driver 2233 is rotatably connected to the moving platform 222 through the second Hooke hinge 2232. At this time, the six servo drivers 2233 surround the axis of the moving platform 222, and every two adjacent servo drivers 2233 are arranged in a cross configuration, thus forming a parallel multi-degree-of-freedom drive platform 22.

[0031] like Figure 2 As shown, the lawn mower 21 includes a mowing driver 212 and a mowing disc 211 for trimming lawn. Specifically, the mowing driver 212 is a motor with a transmission unit. The mowing driver 212 is mounted on the moving platform 222, and the mowing disc 211 is mounted on the drive shaft of the mowing driver 212 to enable the mowing driver 212 to drive the mowing disc 211 to rotate, that is, to enable the mowing disc 211 to be rotatable. The mowing disc 211 is located on the side of the moving platform 222 away from the telescopic drive assembly 223, that is, the mowing disc 211 faces the ground.

[0032] In this embodiment, the servo driver 2233 is a linear servo electric cylinder. Through the extension and retraction of each linear servo electric cylinder, the driven platform 222 can achieve six degrees of freedom of movement to form different pose settings, namely three translational degrees of freedom (such as lateral, longitudinal, heave, etc.) and three rotational degrees of freedom (such as roll, pitch, yaw, etc.), so that the lawnmower disc 211 can form different combinations of poses when mowing the lawn, thereby adapting to lawns with different flatness and production density. Of course, in other embodiments, the servo driver 2233 can also be a servo motor.

[0033] During operation, the real-time attitude (i.e., the motion state corresponding to the six degrees of freedom) of the mowing blade 211 is adjusted in real time based on the grass height data fed back by the ultra-wide-angle camera 33, thereby ensuring consistent mowing height. Furthermore, through the flexible movement of the mowing blade 211, the intelligent robot can promptly adjust the mowing height and tilt of the mowing blade 211 after encountering bumps during its movement, thus ensuring the mowing accuracy and effect of the lawn.

[0034] The ultrasonic sensor 31, the binocular camera 32, and the ultra-wide-angle camera 33 work together to enable the intelligent robot to have more accurate environmental perception and positioning capabilities. Moreover, the multi-sensor fusion technology not only improves the navigation accuracy of the intelligent robot, but also enhances its adaptability and reliability in complex environments.

[0035] Furthermore, the multi-degree-of-freedom drive platform 22 in this embodiment has advantages such as good structural rigidity, large load-bearing capacity, high control precision and fast response. It can also flexibly realize spatial movement of multiple degrees of freedom, thereby further ensuring efficient operation in complex environments and ensuring that the lawn is trimmed to a uniform height.

[0036] In another preferred embodiment, such as Figure 1 As shown, the intelligent robot in this embodiment also includes a vacuum cleaner 4 and a solar power generation component 5. The output ends of the sensing mechanism 3 and the solar power generation component 5 are respectively connected to the input end of the main control system. The input ends of the mowing mechanism 2 and the vacuum cleaner 4 are respectively connected to the output end of the main control system to ensure that each functional mechanism or functional component can work in coordination through the main control system.

[0037] Among them, the solar power generation component 5 has a solar power generation panel installed on the top of the robot body 1 to convert solar energy into electrical energy for daily use. At this time, the intelligent robot is powered by solar energy, which can reduce the dependence on fossil fuels, thereby reducing carbon emissions and meeting environmental protection requirements.

[0038] The vacuum cleaner 4 is located at the bottom of the robot body 1, and the grass-cutting blade 211 is located in front of the vacuum cleaner 4 to collect the grass clippings formed after the grass-cutting blade 21 cuts the grass.

[0039] Further preferred, such as Figure 1 As shown, the robot body 1 includes a vehicle body 11, wheels 12, and an independent suspension system 13. The wheels 12 are mounted on the vehicle body 11 via the independent suspension system 13, and the independent suspension system 13 is a double wishbone independent suspension system. Of course, in other embodiments, the independent suspension system 13 can also be a multi-link independent suspension system.

[0040] To cope with complex and varied terrain, the strut shock absorbers of the double wishbone independent suspension system are used to bear vertical loads and reduce the influence of lateral forces, enabling the intelligent robot to perform better when driving on curves.

[0041] The double wishbone independent suspension system also has a high degree of design freedom, allowing for the independent adjustment of one or more parameters in its suspension geometry, such as wheel camber, without affecting other unadjusted parameters.

[0042] In addition, the double wishbone independent suspension system, through its unique upper and lower wishbone design with unequal lengths, can automatically adjust its camber angle when the wheel 12 moves up and down, reducing tire wear and increasing the tire contact area, thereby improving grip performance to adapt to changes in road surface, such as preventing slippage when traveling on grass with a large slope, and further enhancing the stability of the intelligent robot.

[0043] Although the present invention has been specifically shown and described in conjunction with preferred embodiments, those skilled in the art should understand that various changes in form and detail may be made to the present invention without departing from the spirit and scope of the present invention as defined in the appended claims, and all such changes shall be within the scope of protection of the present invention.

Claims

1. An intelligent robot for lawn mowing, comprising a freely walking robot body, characterized in that: It also includes a mowing mechanism and a sensing mechanism assembled on the robot body; The mowing mechanism includes a mowing blade for mowing grass and a multi-degree-of-freedom drive platform disposed between the robot body and the mowing blade; one end of the multi-degree-of-freedom drive platform is connected to the bottom of the robot body and the other end is connected to the mowing blade, so that the mowing blade can form multiple poses when mowing grass. The sensing mechanism is used to sense obstacles, travel paths, and grass height in real time, so as to control the multi-degree-of-freedom drive platform to drive the mowing blade to form a corresponding posture, so as to adjust the mowing height of the mowing blade in real time.

2. The intelligent robot for lawn mowing according to claim 1, characterized in that: The multi-degree-of-freedom drive platform includes a static platform and a moving platform arranged vertically, as well as multiple independently arranged telescopic drive components. The static platform is mounted on the robot body, and the moving platform is equipped with the mowing blade. One end of each of the multiple telescopic drive components is rotatably connected to the static platform, and the other end is rotatably connected to the moving platform, so as to drive the moving platform and the mowing blade to perform at least lateral and / or longitudinal and / or heave and / or roll and / or pitch and / or yaw movements.

3. The intelligent robot for lawn mowing according to claim 2, characterized in that: The telescopic drive assembly includes a first Hooke hinge, a second Hooke hinge, and a servo driver. One end of the servo driver is rotatably connected to the stationary platform via the first Hooke hinge, and the other end is rotatably connected to the moving platform via the second Hooke hinge. The cutting blade of the mower is rotatably disposed on the side of the moving platform away from the telescopic drive assembly, so that the cutting blade faces the ground.

4. The intelligent robot for lawn mowing according to claim 3, characterized in that: Multiple servo drives are arranged around the axis of the moving platform.

5. The intelligent robot for lawn mowing according to claim 4, characterized in that: Each pair of adjacent servo drives is arranged in a cross configuration.

6. The intelligent robot for lawn mowing according to claim 3, characterized in that: The servo driver is a linear servo electric cylinder.

7. The intelligent robot for lawn mowing according to any one of claims 1-6, characterized in that: The sensing mechanism includes an ultrasonic sensor for obstacle avoidance, a binocular camera for tracking, and an ultra-wide-angle camera for monitoring the height of the lawn.

8. The intelligent robot for lawn mowing according to any one of claims 1-6, characterized in that: The robot body includes a vehicle body, wheels, and an independent suspension system, with the wheels mounted to the vehicle body via the independent suspension system.

9. The intelligent robot for lawn mowing according to claim 8, characterized in that: The independent suspension system is either a double wishbone independent suspension system or a multi-link independent suspension system.

10. The intelligent robot for lawn mowing according to any one of claims 1-6, characterized in that: It also includes a central control system, a vacuum cleaner, and a solar power generation component; the output ends of the sensing mechanism and the solar power generation component are respectively connected to the input end of the central control system, and the input ends of the mowing mechanism and the vacuum cleaner are respectively connected to the output end of the central control system; the solar power generation panel of the solar power generation component is located on the top of the robot body; the vacuum cleaner is located on the bottom of the robot body to collect the grass clippings formed after the mowing blades have cut the grass.

Images