Intelligent mowing robot

Abstract

The utility model relates to the field of mowers, and discloses an intelligent mowing robot which comprises a central control unit, a chassis control unit, a display control unit and a charging pile. The central control unit uses a front camera and a rear camera to collect data of lawns, boundaries and obstacles, integrates data of a gyroscope and a speedometer of the chassis control unit to complete map creation and updating of the mower, grassland travelable areas and obstacle recognition and avoidance, and completes autonomous navigation. The chassis control unit completes motion control, mowing and cutter height adjustment of the intelligent mower. The display control unit is used for inputting user information, displaying state information of the mowing machine and detecting information of obstacles in the front left and the front right of the mowing machine through ultrasonic waves. According to the utility model, the mowing task can be completed by autonomous mapping positioning and autonomous path planning of the mowing machine without wire embedding and RTK (Real-Time Kinematic) positioning.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of lawn mower, concretely relates to an intelligent lawn mower robot. BACKGROUND

[0002] The intelligent lawn mower is applied more and more commonly, and the types are more and more, and the intelligent lawn mower on the market at present is mainly the line type lawn mower and the lawn mower based on RTK positioning.

[0003] The existing intelligent lawn mower mainly determines the mowing range through the line or RTK mode, and needs to embed the induction wire or install the RTK base station respectively.The line type lawn mower adopts the unordered mowing mode, and the mowing efficiency is low, and the installation cost is high, the RTK lawn mower is high in installation cost and is easily influenced by the environment, and cannot be used in most garden scenes. UTILITY MODEL CONTENTS

[0004] The utility model intends to provide an intelligent lawn mower to realize the self -positioning of independent mapping, the self -planning of independent path and the mowing task without burying the line and RTK positioning.

[0005] In order to achieve the above object, the utility model adopts the following technical scheme: an intelligent lawn mower robot, comprising:

[0006] The central control unit includes a processor, a camera module, a communication module and a GPS positioning module.

[0007] The chassis control unit includes a gyroscope and a plurality of detection HALL sensors, and is used for completing the motion control of the intelligent lawn mower robot, mowing and height adjustment of the cutter head.

[0008] The display control unit includes an ultrasonic module and a display screen, and is used for completing the user information input, state information display and obstacle information of the lawn mower robot.

[0009] The power management module is used for providing power and managing the power.

[0010] The chassis control unit is in communication connection with the central processing unit and the display control unit, the central control unit uses the camera module to collect the lawn, boundary and obstacle data, and combines the gyroscope and odometer data of the chassis control unit to complete the map creation update of the lawn mower robot, grassland drivable area identification and obstacle identification obstacle avoidance, and completes the autonomous navigation.

[0011] Preferably, as an improvement, the camera module includes a front camera module and a rear camera module, the front camera module is used to collect video images in front of the lawn mower, complete the lawn and driving area identification, movable and fixed obstacle identification, repositioning during the movement of the lawn mower; the rear camera module completes the driving area identification and obstacle identification when the lawn mower retreats.

[0012] Preferably, as an improvement, it also includes a walking motor, a GPS positioning module cooperates with a gyroscope and an odometer of the walking motor to realize positioning during map establishment and navigation and complete navigation planning with the processor.

[0013] Preferably, as an improvement, the chassis control unit also includes a logic control MCU, a walking MCU and a cutting MCU, the logic control MCU is responsible for data processing of chassis control, completes data communication with the central control unit and the display control unit through the communication interface, and sends control commands to the walking MCU and the cutting MCU.

[0014] Preferably, as an improvement, it also includes a WIFI module, which is used to realize internet connection and complete program OTA upgrade.

[0015] Preferably, as an improvement, the walking MCU realizes driving control of the left and right wheel motors of the lawn mower, and the cutting MCU realizes driving control of the cutting motor and realizes mowing.

[0016] Preferably, as an improvement, the HALL sensor is used to realize the emergency stop operation of the lawn mower, the lifting detection and the cutter head lifting detection.

[0017] Preferably, as an improvement, it also includes a BLE module, which is connected with a mobile terminal device to realize the control, mapping and other operations of the lawn mower.

[0018] Preferably, as an improvement, HALL sensors are arranged below the emergency stop button, above the guide wheel and above the cutter head lifting mechanism.

[0019] The principle and advantages of the scheme are: in actual application, the central control unit uses the front and rear cameras to collect lawn, boundary and obstacle data, and fuses the gyroscope and odometer data of the chassis control unit to complete the map creation and update of the lawn mower, the lawn drivable area and obstacle identification and avoidance, and complete autonomous navigation. The chassis control unit completes the motion control, mowing and cutter head height adjustment of the intelligent lawn mower. The display control unit completes user information input, lawn mower state information display and obstacle information detection in front of the lawn mower through ultrasonic detection.

[0020] In use, the mower first walks along the lawn edge to generate a work area map. In the mower preparation process, the work map is first segmented into multiple work area sub-maps by using an intelligent map segmentation algorithm. In the mowing process, the mower first completes work of a work area sub-map in sequence, then returns to the charging pile to complete accurate position calibration of the mower, remove the positioning error, and enter work of the next work sub-map, and so on, to complete the work.

[0021] The intelligent mower robot control system and the intelligent mower robot of the utility model abandon the traditional buried line and RTK positioning mode, use vision and gyroscope, odometer data fusion, complete self-positioning and self-path planning of the mower through map segmentation and time-sharing calibration, and finally complete the intelligent mowing task. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 It is a structure schematic view of the utility model embodiment 1.

[0023] Figure 2 It is a front side partial view of the utility model embodiment 1.

[0024] Figure 3 It is a circuit frame view of the utility model embodiment 2.

[0025] Machine body 1, front camera module 2, left front ultrasonic sensor 3, emergency stop button 4, function button 5, segment code display 6, right front ultrasonic sensor 7. DETAILED DESCRIPTION

[0026] The following is further explained in detail by specific implementation manners:

[0027] An intelligent mower robot, such as Figures 1-3As shown, including the body 1, the body 1 is installed with central control unit, chassis control unit, display control unit, power management module, the body 1 top is equipped with emergency stop button 4, the body 1 bottom is equipped with cutter and guide wheel, the body 1 inside is equipped with cutter lifting mechanism for adjusting the height of cutter. The central control unit includes a processor, a camera module, a 4G communication module and a communication interface; the camera module includes a front camera module 2 and a rear camera module, the front camera module 2 is located at the front end of the body 1, the front camera 2 is responsible for collecting the video image in front of the mower, completing the lawn and driving area identification, movable and fixed obstacle identification, repositioning in the process of mower movement. The rear camera module is located at the rear end of the body 1, and the rear camera completes the driving area identification and obstacle identification when the mower retreats. The chassis control unit includes a gyroscope and a communication interface, which is used for intelligent mower robot motion control, mowing and cutter height adjustment. The power management module is used for providing power to the central control unit, the chassis control unit and the display control unit, and managing the power and cooperating with the charging pile to realize the charging of the mower. The power management of the central control unit is only for dynamic control of its own power. The display control unit includes an ultrasonic module and a display screen, which is used for completing user information input, mower state information display and obstacle information detection in front left and front right of the mower through ultrasonic waves.

[0028] The chassis control unit is in communication connection with the central processing unit and the display control unit, the central control unit uses the front and rear cameras to collect lawn, boundary and obstacle data, and fuses the gyroscope and odometer data of the chassis control unit to complete the map creation and update of the mower, the drivable area identification of the lawn and the obstacle avoidance, and the autonomous navigation.

[0029] In this embodiment, as shown in Figure 3 The central control unit further includes a GPS positioning module, a WIFI module and a BLE module, the GPS positioning module cooperates with the gyroscope and odometer in the chassis control unit to realize positioning in the process of map establishment and navigation and cooperates with SOC to complete navigation planning, the 4G module completes cloud communication, uploads fault information and completes remote setting of the mower, the WIFI module realizes internet connection and completes program OTA upgrade, the BLE module is connected with a mobile terminal device to realize control, mapping and other operations of the mower.

[0030] In this embodiment, as shown in Figure 3As shown, the chassis control unit also includes a logic control MCU, a walking MCU, a cutting MCU, three sets of HALL sensors, drive wheels, and a cutterhead assembly. The logic control MCU is responsible for chassis control data processing, and completes data communication with the central control unit and the display unit through a communication interface and sends control commands to the walking MCU and the cutting MCU. The gyroscope, combined with the walking motor odometer of the chassis control unit and the GPS positioning module of the central control unit, completes map establishment and positioning during navigation and cooperates with the SOC to complete navigation planning. The walking MCU realizes driving control of the left and right wheels of the mower, the cutting MCU realizes driving control of the cutting motor and mowing, and the chassis control unit completes motion control, mowing, and cutterhead height adjustment of the intelligent mower robot.

[0031] In this embodiment, as shown in Figure 1 The three sets of HALL sensors in the chassis control unit realize the emergency stop operation of the mower, the lifting detection, and the cutterhead lifting detection, respectively. The first set of HALL sensors is installed below the emergency stop button 4 of the mower, detects the action of the emergency stop button 4, and executes the stop action of the mower when the action of the emergency stop button 4 is detected. The second set of HALL sensors is installed above the guide wheel, and when the guide wheel is suspended, the HALL sensor detects that the guide wheel signal is disconnected, and completes the lifting detection of the mower. The third set of HALL sensors is installed directly above the cutterhead lifting mechanism of the mower, and when the cutterhead is lifted to the highest external position, the cutterhead height zero position calibration is completed.

[0032] In this embodiment, the display control unit also includes a control MCU, three function keys 5, a left front ultrasonic sensor 3, a right front ultrasonic sensor 7, a segment code display screen, and a communication interface. The left front ultrasonic sensor 3 and the right front ultrasonic sensor 7 are arranged on the left and right sides of the front camera of the intelligent mower robot, and are used to complete the obstacle distance detection of the left front and right front of the mower and realize emergency obstacle avoidance. The communication interface is connected with the chassis control unit to realize data exchange, the control MCU is used for controlling the segment code display screen and the logic control of the display control unit, and the user can complete the operation command input of the mower robot through the three function keys 5. The segment code display 6 and the function keys 5 are located on the top of the body 1 on the front side of the emergency stop button 4.

[0033] In use, the mowing robot first walks along the lawn edge, collects grassland images through the front camera module, completes grassland and travel area identification, movable and fixed obstacle identification, repositioning in the mowing process, and fuses gyro and odometer data to complete map creation and update, grassland drivable area identification and obstacle avoidance, and generates a work area map. In the mowing preparation process, the work map is first segmented into multiple work area sub-maps using an intelligent map segmentation algorithm. In the mowing process, the mowing robot first completes work in a work area sub-map in sequence, then returns to the charging pile to complete accurate position calibration of the mowing robot, clear positioning errors, and enter the next work sub-map for work, and so on, to complete the work.

[0034] The above is only an embodiment of the present application, and common technical solutions and / or characteristics in the scheme are not described in detail. It should be noted that, for those skilled in the art, without departing from the technical solutions of the present application, a number of modifications and improvements can be made, which should also be considered as the protection scope of the present application, and these will not affect the effect and practicality of the present application. The protection scope of the present application should be subject to the content of its claims, and the specific implementation mode and the like in the specification can be used to explain the content of the claims.

Claims

1. An intelligent mowing robot, characterized in that: Comprising A central control unit comprising a processor, a camera module, a communication module, a GPS positioning module; A chassis control unit comprising a gyroscope and a plurality of detection HALL sensors, for completing the motion control, mowing and height adjustment of the intelligent mower robot; A display control unit comprising an ultrasonic module and a display screen, for completing the user information input, state information display and obstacle information of the mower robot; A power management module for providing and managing power supply; The chassis control unit is in communication connection with the central processing unit and the display control unit, the central control unit uses the camera module to collect lawn, boundary and obstacle data, and combines the gyroscope and odometer data of the chassis control unit to complete the map creation and update, grassland drivable area identification and obstacle identification of the mower robot, and complete autonomous navigation.

2. The intelligent mowing robot of claim 1, wherein: The camera module comprises a front camera module and a rear camera module, the front camera module is used to collect video images in front of the mower robot, complete grassland and driving area identification, movable and fixed obstacle identification, and repositioning during mower movement; the rear camera module completes driving area identification and obstacle identification when the mower robot retreats.

3. The intelligent mowing robot of claim 1, wherein: It also includes a walking motor, the GPS positioning module cooperates with the gyroscope and the odometer of the walking motor to realize positioning during map establishment and navigation process, and cooperates with the processor to complete navigation planning.

4. The intelligent mowing robot of claim 1, wherein: The chassis control unit further comprises a logic control MCU, a walking MCU and a cutting MCU, the logic control MCU is responsible for chassis control data processing, completes data communication with the central control unit and the display control unit through a communication interface, and sends control commands to the walking MCU and the cutting MCU.

5. The intelligent mowing robot of claim 1, wherein: It also includes a WIFI module, which is used to realize internet connection and complete program OTA upgrade.

6. The intelligent mowing robot of claim 5, wherein: The HALL sensor is used to realize emergency stop operation, lifting detection and cutterhead lifting detection of the mower.

7. The intelligent mowing robot of claim 1, wherein: It also includes a BLE module, which is connected with a mobile terminal device to realize control and mapping of the mower.

8. The intelligent mowing robot of claim 1, wherein: There are HALL sensors below the emergency stop button, above the guide wheel and above the cutterhead lifting mechanism.

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