A smart lawnmower instrument

Abstract

This utility model discloses an intelligent lawnmower instrument, including a main control module, an ultrasonic sensor communication circuit, a rainwater collection module, an LCD screen module, a main power supply module, a power on / off detection module, a serial port receiving and transmitting module, a dual data storage module, a button backlight module, and a button module. This utility model can detect the position and distance of obstacles using an ultrasonic sensor and the amount of rainfall using a rainwater sensor, and intuitively display environmental information and operating status on the LCD screen. The circuit structure is compact and highly integrated, effectively improving the lawnmower's adaptability and safety in complex environments and rainy conditions.

Description

Technical Field

[0001] This utility model relates to the field of instrument control systems for garden machinery, and in particular to an intelligent lawnmower instrument. Background Technology

[0002] With the rapid development of intelligent gardening equipment, users are increasingly demanding higher levels of intelligence, safety, and ease of use in lawnmowers. Traditional lawnmower instrument systems suffer from the following problems: sensors have limited functionality, making it difficult to perceive complex environments and prone to collisions in areas with obstacles; displays are simple, information transmission is not intuitive, and the user experience is poor; system integration is low, with inconsistent interfaces between functional modules, leading to high system complexity and poor reliability; environmental adaptability is lacking, failing to function properly or maintain safe operation in harsh weather conditions such as rain; functional expandability is poor, making it difficult to meet the needs of intelligent development; and circuit design does not consider the special characteristics of outdoor working environments, resulting in insufficient anti-interference capabilities and waterproof performance.

[0003] Patent CN222263654U integrates navigation, obstacle avoidance and weather detection functions with a single lidar, which simplifies the structure and reduces costs; however, it has functional coupling defects, such as the lidar's inability to effectively perceive the environment when its performance degrades in rainy weather, and the single sensor has weak accuracy in identifying and locating complex obstacles. Summary of the Invention

[0004] The purpose of this invention is to solve the problems of insufficient perception capabilities, poor system stability, and inefficient human-machine interaction in traditional lawnmowers under complex environments by using multi-sensor fusion and intelligent control technology. It innovatively designs a dual-channel ultrasonic sensor communication module and a high-precision rainfall acquisition module to achieve collaborative perception of obstacles and rainwater; integrates a dynamic LCD display system and backlit adaptive buttons to graphically present diverse information such as obstacle location and rainfall level, breaking through the traditional single data feedback mode of equipment, constructing an environmentally adaptive decision-making system, and promoting the upgrade of lawnmowers from mechanized operation to intelligent control.

[0005] To achieve the above objectives, this utility model adopts the following technical solution: it includes a main control module, an ultrasonic sensor communication module, and a rainwater collection module. The ultrasonic sensor communication module is connected to the main control module through UART channel 2 and channel 3. The rainwater collection module is connected to the main control module through a digital-to-analog converter. The main control module is connected to an EEPROM storage module through an I2C bus, a FLASH storage module through an SPI bus, a serial port receiving and transmitting module through UART channel 0, and an LCD screen module, a button backlight module, and a button module through different GPIO ports. The main control module is also connected to a main power supply module and a switch detection module.

[0006] Preferably, the ultrasonic sensor communication module includes two communication lines:

[0007] The first communication line's pin UART2_TXD is connected to the main control module's pin UART2_TXD, and the first communication line's pin UART2_RXD is connected to the main control module's pin UART2_RXD.

[0008] The pin UART3_TXD of the second communication line is connected to the pin UART3_TXD of the main control module, and the pin UART3_RXD of the second communication line is connected to the pin UART3_RXD of the main control module.

[0009] The dual UART channel design enables redundant verification of sensor data and supports multi-sensor cascading.

[0010] Preferably, the yushu_ADC pin of the rainwater collection module is connected to the yushu_ADC pin of the main control module;

[0011] The dynamic gain range of the operational amplifier can be set using a resistor network, making it less susceptible to changes in the conductivity of rainwater.

[0012] Preferably, the I2C0_SCL pin of the EEPROM module is connected to the I2C0_SCL pin of the main control module, and the I2C0_SDA pin of the EEPROM module is connected to the I2C0_SDA pin of the main control module.

[0013] Preferably, the SPI_CS pin of the SPI FLASH module is connected to the SPI_CS pin of the main control module, the SPI_MISO pin of the SPI FLASH module is connected to the SPI_MISO pin of the main control module, the SPI_WP pin of the SPI FLASH module is connected to the SPI_WP pin of the main control module, the SPI_CLK pin of the SPI FLASH module is connected to the SPI_CLK pin of the main control module, the SPI_MOSI pin of the SPI FLASH module is connected to the SPI_MOSI pin of the main control module, and the SPI_HOLD pin of the SPI FLASH module is connected to the SPI_HOLD pin of the main control module.

[0014] EEPROM memory can be used to store externally acquired data, while FLASH memory can be used for program storage and internal parameter settings.

[0015] Preferably, the UART0_TXD pin of the serial port receiving and transmitting module is connected to the UART0_TXD pin of the main control module, the UART0_RXD pin of the serial port receiving and transmitting module is connected to the UART0_RXD pin of the main control module, the LP_UART_TXD pin of the serial port receiving and transmitting module is connected to the LP_UART_TXD pin of the main control module, and the TX_LEDOUT pin of the serial port receiving and transmitting module is connected to the TX_LEDOUT pin of the main control module.

[0016] Preferably, pins DATA0 to DATA7 of the LCD module are connected to pins D0 to D7 of the main control module, pin RD of the LCD module is connected to pin ERD of the main control module, pin WR of the LCD module is connected to pin RWR of the main control module, pin RS of the LCD module is connected to pin RS of the main control module, pin CS of the LCD module is connected to pin LCD_CS of the main control module, and pin RST of the LCD module is connected to pin LCD_RST of the main control module.

[0017] Preferably, the LED_OUT1 pin of the button backlight module is connected to the LED_OUT1 pin of the main control module; the KEY1 pin of the button module is connected to the KEY1 pin of the main control module, the KEY2 pin of the button module is connected to the KEY2 pin of the main control module, the KEY3 pin of the button module is connected to the KEY3 pin of the main control module, and the KEY4 pin of the button module is connected to the KEY4 pin of the main control module.

[0018] Supports instrument interaction operation in backlit or low-light environments.

[0019] Preferably, the IGN+_ON / OFF pin of the switch detection module is connected to the IGN+_ON / OFF pin of the main control module.

[0020] Preferably, the output pin VDD+3.3V of the main power module is connected to the power supply pins VDD+3.3V of the main control module, the ultrasonic sensor communication module, the rainwater collection module, the LCD screen module, the EEPROM module, the SPI FLASH module, the serial port receiving and transmitting module, and the switch detection module, respectively; the output pin VDD2+5V of the main power module is connected to the power supply pins VDD2+5V of the ultrasonic sensor communication module, the rainwater collection module, and the LCD screen module, respectively; and the GND pin of the main power module is connected to the GND pin of each module.

[0021] Therefore, this utility model has the following beneficial effects:

[0022] Enhanced Obstacle Detection: Utilizing a dual-channel ultrasonic sensor design, it enables multi-angle obstacle detection, improving mowing safety. All-Weather Adaptability: An integrated rain sensor intelligently adjusts the working mode based on rainfall intensity, ensuring safe operation in rainy weather. Intuitive Information Display: Employing LCD screen technology, it clearly displays obstacle location, distance, rainfall intensity, and working status. High Integration: The ultrasonic sensor communication, rain sensing, data storage, and LCD display functions are integrated into a single circuit design, reducing system complexity. Optimized Human-Machine Interface: The LCD screen and backlit buttons provide intuitive information display and clear operational feedback, enhancing the user experience. Attached Figure Description

[0023] Figure 1 This is a connection diagram of the various modules of the instrument for the intelligent lawnmower of this utility model;

[0024] Figure 2 This is a circuit diagram of the communication module channel one of the ultrasonic sensor of the intelligent lawnmower instrument of this utility model;

[0025] Figure 3 This is the circuit diagram of the communication module channel two for the ultrasonic sensor of the intelligent lawnmower instrument of this utility model;

[0026] Figure 4 This is the circuit diagram of the rainwater collection module for the intelligent lawnmower instrument of this utility model;

[0027] Figure 5 This is a circuit diagram of the data display interfaces of the LCD screen module of the intelligent lawnmower instrument of this utility model;

[0028] Figure 6 This is the circuit diagram of the FPC connector for the LCD screen module keypad of the intelligent lawnmower instrument of this utility model;

[0029] Figure 7 This is the circuit diagram of the dot matrix screen module of the intelligent lawnmower instrument of this utility model;

[0030] Figure 8 This is the circuit diagram of the main control module of the intelligent lawnmower instrument of this utility model;

[0031] Figure 9 This is a circuit diagram of the serial port receiving and transmitting module of the intelligent lawnmower instrument and the VCU serial port receiving circuit of this utility model;

[0032] Figure 10 This is a circuit diagram of the serial port receiving and transmitting module of the intelligent lawnmower instrument and the VCU serial port communication transmission circuit of this utility model;

[0033] Figure 11 This is a circuit diagram of the LED strip control serial port input circuit for the instrument serial port receiving and transmitting module of the intelligent lawnmower of this utility model.

[0034] Figure 12 This is a circuit diagram of the serial port receiving and transmitting module for the intelligent lawnmower instrument of this utility model, which controls the serial port output of the LED strip.

[0035] Figure 13 This is the circuit diagram of the main power supply module of the intelligent lawnmower instrument of this utility model;

[0036] Figure 14 This is the circuit diagram of the instrument switch detection module for the intelligent lawnmower of this utility model;

[0037] Figure 15 This is the circuit diagram of the EEPROM module of the intelligent lawnmower instrument of this utility model;

[0038] Figure 16 This is the circuit diagram of the SPIFLASH module of the intelligent lawnmower instrument of this utility model;

[0039] Figure 17 This is the circuit diagram of the backlight module for the instrument buttons of the intelligent lawnmower of this utility model.

[0040] Figure 18 This is the circuit diagram of the instrument button module for the intelligent lawnmower of this utility model. Detailed Implementation

[0041] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments:

[0042] Example 1:

[0043] This embodiment provides an intelligent lawnmower instrument, such as Figure 1 As shown, the system includes a main control module, an ultrasonic sensor communication module, and a rainwater collection module. The ultrasonic sensor communication module is connected to the main control module via UART channels 2 and 3. The rainwater collection module is connected to the main control module via a digital-to-analog converter. The main control module is connected to an EEPROM storage module via an I2C bus, a FLASH storage module via an SPI bus, a serial port receiving and transmitting module via UART channel 0, and an LCD screen module, a button backlight module, and a button module via different GPIO ports. The main control module is also connected to a main power supply module and a switch detection module.

[0044] Specifically:

[0045] 1. Ultrasonic sensor communication module

[0046] like Figure 2 , Figure 3 As shown, the ultrasonic sensor communication module adopts a dual-channel design, including circuit components such as transistors, operational amplifiers, transient suppression diodes, and filter resistors and capacitors. This module includes:

[0047] Dual-channel redundancy verification design: The signal input terminal of the first channel is connected to the UART2_TXD pin of the main control module, and the signal output terminal is connected to the UART2_RXD pin; the signal input terminal of the second channel is connected to the UART3_TXD pin, and the signal output terminal is connected to the UART2_RXD pin, enabling the main control MCU to communicate with the ultrasonic data port;

[0048] Multi-level level conversion: Transistors and voltage divider resistor networks are used to achieve compatibility with 3.3V / 12V mixed-level systems, ensuring stable and reliable signal transmission;

[0049] Anti-interference protection: Integrated transient suppression diodes and filter circuits improve the reliability of operation in outdoor electromagnetic interference environments;

[0050] When operating in environments with obstacles, the dual-channel ultrasonic sensor can simultaneously detect obstacles from multiple directions and transmit distance data to the MCU in real time via serial communication. The MCU calculates the obstacle distance, direction, and relative motion trend based on the received data, providing a basis for obstacle avoidance decisions. The system is designed with a detection range of 0.2 meters to 3 meters, meeting the safety requirements of the lawnmower during normal operation.

[0051] 2. Rainwater harvesting module

[0052] like Figure 4 As shown, the rainwater acquisition module includes a rainwater sensor interface, an operational amplifier, a resistor divider network, and a filter capacitor. Its output pin is connected to the yushui_ADC pin of the main control module. The module can achieve the following:

[0053] High-precision operational amplifier design: By setting the dynamic gain range of the operational amplifier, accurate differentiation of different rainfall levels can be achieved;

[0054] Adaptive resistor network: The resistor network design makes the system less susceptible to changes in the conductivity of rainwater, thus improving detection stability.

[0055] Multi-stage filtering: Employing capacitor filtering design, it effectively suppresses environmental interference and improves signal acquisition quality;

[0056] When operating in rainy conditions, the rain sensor detects rainwater and generates an analog signal. This signal is amplified and conditioned by operational amplifier U3, converting it into a voltage signal within the 0-3.3V range. This signal is then sampled via the MCU's ADC interface. The MCU compares the sampled data with a preset threshold to determine the current rainfall level (no rain, light rain, moderate rain, or heavy rain), and automatically adjusts the lawnmower's operating mode accordingly.

[0057] 3. LCD screen module

[0058] like Figure 5 , Figure 6, Figure 7 As shown, pins DATA0 to DATA7 of the LCD module are connected to pins D0 to D7 of the main control module; pin RD of the LCD module is connected to pin ERD of the main control module; pin WR of the LCD module is connected to pin RWR of the main control module; pin RS of the LCD module is connected to pin RS of the main control module; pin CS of the LCD module is connected to pin LCD_CS of the main control module; and pin RST of the LCD module is connected to pin LCD_RST of the main control module.

[0059] The module can achieve the following:

[0060] Parallel high-speed communication: The 8-bit data bus design supports high-speed data transmission and meets the needs of complex graphics display;

[0061] Complete control signal chain: Chip select pin, data identification pin, read / write execution pin, read / write control pin, and reset pin are respectively connected to the corresponding pins of the main control module to achieve precise display control;

[0062] Vibration-resistant design: Integrated decoupling capacitors improve display stability in lawnmower vibration environments;

[0063] In obstacle-prone environments and rainy working conditions, the LCD screen can intuitively display the following information:

[0064] An obstacle location diagram, graphically displaying the relative positions and distances of obstacles ahead;

[0065] Rainfall level indicator displays the current rainfall amount and recommended operating mode;

[0066] Working status information, including battery level, mowing height, working mode, etc.;

[0067] Warning messages, such as obstacle too close warning, excessive rainfall warning, etc.;

[0068] The LCD screen features a backlight design, ensuring clear display of information under various lighting conditions. Optimized screen resolution and display area allow for efficient display of key information within a limited space, helping users quickly understand the lawnmower's status and environmental conditions.

[0069] 4. Main Control MCU Module

[0070] like Figure 8 As shown, the MCU module is based on the HC32L073KATA_LQFP-64 chip and includes a crystal oscillator circuit, a reset circuit, and a serial debug interface.

[0071] The MCU connects to various functional modules through multiple pins to realize system control and data processing. The circuit includes two crystal oscillators: a 32.768KHz low-frequency crystal oscillator for real-time clock and low-power mode, and a high-frequency crystal oscillator for system clock under normal operating conditions. In addition, the circuit is also designed with a reset circuit and a serial debug interface for program download and system debugging.

[0072] In obstacle-prone environments and rainy working scenarios, the MCU is primarily responsible for the following tasks:

[0073] It processes ultrasonic sensor data in real time to calculate the distance and position of obstacles.

[0074] Analyze the rain sensor signals to determine the current rainfall level;

[0075] Develop work strategies based on environmental data, such as obstacle avoidance paths and speed adjustments;

[0076] The LCD screen is driven to display obstacle information, rainfall information, and system status.

[0077] Process key input and respond to user actions;

[0078] It communicates with the main controller of the lawnmower via serial port to coordinate the operation of the entire machine;

[0079] The MCU adopts a low-power design, which can maintain minimum functional operation even when the lawnmower is in sleep mode, such as monitoring environmental changes and recording data, while maintaining a low power consumption level.

[0080] 5. Serial port receiving and transmitting module

[0081] The serial port receiving and transmitting module consists of two parts: an interface circuit for communication with the lawnmower control unit (VCU), such as... Figure 9 , Figure 10 And the LED strip control output circuit, such as Figure 11 , Figure 12 ;

[0082] The VCU communication circuit consists of transistors and related resistors and capacitors. The serial port input and serial port output interfaces are connected to the main control module's pins UART0_TXD and UART0_RXD, respectively.

[0083] The LED strip control circuit consists of transistors and related resistors and capacitors. The serial port input is connected to the LPUART1_TXD pin of the main control module.

[0084] In practical applications, the MCU communicates with the lawnmower control unit via the UART0 interface, receiving information such as engine speed, forward speed, and battery level, while simultaneously sending obstacle warnings, rainfall information, and system status data. When an obstacle is detected or rainfall exceeds a set threshold, the MCU controls the warning light strip to flash via the UART1 interface to alert the user.

[0085] 6. Main power supply module

[0086] like Figure 13 As shown, the main power supply module mainly includes a step-down regulator to convert the external +12V power supply to +3.3V; a +5V conversion circuit composed of transistors and several resistors; the output pin VDD+3.3V of the main power supply module is connected to the power supply pins VDD+3.3V of the main control module, ultrasonic sensor communication module, rainwater collection module, LCD screen module, EEPROM module, SPI FLASH module, serial port receiving and transmitting module, and switch detection module; the output pin VDD2+5V of the main power supply module is connected to the power supply pins VDD2+5V of the ultrasonic sensor communication module, rainwater collection module, and LCD screen module; the GND pin of the main power supply module is connected to the GND pin of each module.

[0087] The main power module design has the following characteristics:

[0088] The well-designed overvoltage protection system prevents power fluctuations in the lawnmower's power system from damaging the instrument circuitry.

[0089] Multi-stage filtering design ensures clean and stable power supply, preventing power fluctuations during engine start-up or operation from affecting instrument operation;

[0090] The zoned power supply design provides independent power to different functional modules, reducing mutual interference and improving system stability;

[0091] In outdoor lawn mowing environments, the main power module can effectively cope with voltage fluctuations, spike interference, and other situations, ensuring the stable operation of the instrument system under various working conditions.

[0092] 7. Power on / off detection module

[0093] like Figure 14 As shown, the IGN+_ON / OFF pin of the switch detection module is connected to the IGN+_ON / OFF pin of the main control module;

[0094] When the user starts the lawnmower, the module can reliably detect the ignition signal, trigger the MCU to start, and then activate the entire instrument system, ensuring that the system starts working at the correct time.

[0095] 8. Dual data storage module

[0096] The data storage module includes EEPROM memory and SPI FLASH memory;

[0097] like Figure 15 As shown, the I2C0_SCL pin of the EEPROM module is connected to the I2C0_SCL pin of the main control module, and the I2C0_SDA pin of the EEPROM module is connected to the I2C0_SDA pin of the main control module.

[0098] like Figure 16 As shown, the SPI_CS pin of the SPIFLASH module is connected to the SPI_CS pin of the main control module, the SPI_MISO pin of the SPIFLASH module is connected to the SPI_MISO pin of the main control module, the SPI_WP pin of the SPI FLASH module is connected to the SPI_WP pin of the main control module, the SPI_CLK pin of the SPI FLASH module is connected to the SPI_CLK pin of the main control module, the SPI_MOSI pin of the SPI FLASH module is connected to the SPI_MOSI pin of the main control module, and the SPI_HOLD pin of the SPI FLASH module is connected to the SPI_HOLD pin of the main control module.

[0099] In practical applications, EEPROM primarily stores critical configuration data, such as ultrasonic sensor detection distance thresholds, rainfall alarm thresholds, and display brightness settings. This data is retained even during power outages and supports frequent updates of dynamic thresholds. SPI FLASH, on the other hand, records historical operational data, including obstacle detection records, rainfall trends, and operation logs. This data can be used for subsequent analysis and system optimization, and also helps users understand the lawnmower's operating status and environmental conditions.

[0100] 9. Button backlight module and button module

[0101] like Figure 17 , Figure 18 As shown, the LED_OUT1 pin of the button backlight module is connected to the LED_OUT1 pin of the main control module; the KEY1 pin of the button module is connected to the KEY1 pin of the main control module, the KEY2 pin of the button module is connected to the KEY2 pin of the main control module, the KEY3 pin of the button module is connected to the KEY3 pin of the main control module, and the KEY4 pin of the button module is connected to the KEY4 pin of the main control module.

[0102] The button module includes 5 button switches and a debounce circuit, and the button signals are connected to the input pins of the main control module.

[0103] In obstacle-prone environments and rainy working scenarios, the button functions mainly include:

[0104] Mode switch button: Switch between different working modes (standard mode, obstacle avoidance mode, energy saving mode, etc.);

[0105] Confirm button: Confirm system prompts or setting changes;

[0106] Navigation keys: Used for navigation and selection within the LCD screen menu;

[0107] Emergency Stop Button: Quickly stop the lawnmower in case of an emergency;

[0108] The button backlight automatically adjusts its brightness according to ambient light to ensure good visibility under various lighting conditions. Additionally, when the system detects obstacles or rain, the backlight of the relevant buttons will flash to alert the user.

[0109] Example 2:

[0110] In environments with obstacles, the workflow of this utility model is as follows:

[0111] After the lawnmower is started, the power-on / off detection module detects the ignition signal and activates the MCU and the entire instrument system;

[0112] The MCU initializes all functional modules, the LCD screen displays the power-on screen, and the ultrasonic sensor is activated to perform an environmental scan.

[0113] The ultrasonic sensor transmits distance data of obstacles ahead to the MCU in real time via dual channels;

[0114] The MCU processes sensor data, calculates the exact location and relative distance of obstacles, and displays them graphically on the LCD screen.

[0115] The system responds in stages based on the distance to the obstacle:

[0116] When the distance to an obstacle is greater than 2 meters, the LCD screen displays the obstacle's location but does not issue a warning;

[0117] When the obstacle is 1-2 meters away, the LCD screen flashes the obstacle icon and at the same time outputs a slowly flashing warning signal through the light strip;

[0118] When the distance to the obstacle is between 0.5 and 1 meter, the LCD screen displays a clear warning icon, the LED strip output flashes rapidly as a warning, and a deceleration request is sent to the VCU via the serial port;

[0119] When the distance to the obstacle is less than 0.5 meters, the LCD screen displays an emergency warning, the light strip remains brightly lit as a warning, and a stop command is sent to the VCU.

[0120] Users can manually adjust the system's response sensitivity to obstacles by pressing a button, or temporarily ignore obstacle warnings in a specific direction;

[0121] The system continuously monitors changes in the position of obstacles and dynamically updates the display on the LCD screen to help users understand changes in the surrounding environment;

[0122] Obstacle information and user operation records are stored in SPIFLASH for subsequent analysis and system optimization.

[0123] In this operating mode, the system effectively assists users in safely operating lawnmowers in complex environments, reducing the risk of collisions and improving work efficiency. The dual-channel ultrasonic design ensures a wider detection range, while the intuitive LCD screen enhances the user's environmental awareness.

[0124] Example 3:

[0125] In rainy conditions, the working process of this utility model is as follows:

[0126] The rain sensor detects rainwater and generates an analog signal, which is then processed by an operational amplifier and input to the MCU's ADC interface.

[0127] The MCU determines the current rainfall level (light rain, moderate rain, or heavy rain) by analyzing ADC readings;

[0128] The LCD screen displays the current rainfall level and corresponding work recommendations:

[0129] Light rain (ADC reading below threshold 1): Displays a light rain icon, indicating normal operation is recommended, and the LCD screen displays "Light Rain Mode";

[0130] Moderate rain (ADC reading between threshold 1 and threshold 2): Displays a moderate rain icon, suggesting a reduction in speed; LCD screen displays "Moderate rain mode - please slow down".

[0131] Heavy rain (ADC reading exceeds threshold 2): Displays a heavy rain icon, recommends stopping operation, and the LCD screen displays "Heavy rain warning - recommend stopping operation".

[0132] The system automatically adjusts its operating parameters based on the rainfall level.

[0133] Light rain mode: Maintains normal operation and only displays rainfall information on the LCD screen;

[0134] Mode for moderate rain: Sends a speed reduction request to the VCU via serial port, while increasing the detection frequency of the ultrasonic sensor;

[0135] Heavy Rain Mode: Sends a warning message to the VCU via serial port, suggesting that the system stop working, and the LED strip outputs a warning signal.

[0136] Users can force switch the working mode by pressing a button, or adjust the rainfall response sensitivity.

[0137] The system continuously monitors changes in rainfall and dynamically adjusts its operating status accordingly.

[0138] Rainfall data and operating mode records are stored in SPIFLASH for statistical analysis and optimization.

[0139] In this operating mode, the system can intelligently adjust the lawnmower's working status according to the amount of rainfall, ensuring safe operation in rainy conditions. The LCD screen clearly displays rainfall information and working suggestions to help users make informed decisions.

[0140] Example 4:

[0141] In complex environments where obstacles and rain coexist, the system will integrate two operating modes, prioritizing safety factors:

[0142] The system simultaneously monitors data from ultrasonic sensors and rain sensors to comprehensively assess environmental conditions;

[0143] The LCD screen displays obstacle information and rainfall information in sections, providing comprehensive environmental awareness;

[0144] The system determines its operating status based on the combination of obstacle distance and rainfall level:

[0145] Light rain + distant obstacles: Maintain normal operation, only displaying prompt messages;

[0146] Light rain + medium-distance obstacles or moderate rain + long-distance obstacles: It is recommended to reduce speed and display a warning message;

[0147] Moderate rain + medium-distance obstacle or light rain + close-range obstacle: Display warning message and automatically request deceleration;

[0148] Heavy rain or nearby obstacles: An emergency warning is displayed, and it is recommended to stop working.

[0149] Users can select the priority response mode (obstacle avoidance priority or rain protection priority) by pressing the button;

[0150] The system updates the content displayed on the LCD screen in real time to ensure that users are aware of the latest environmental conditions.

[0151] Composite environment data and response records are stored in SPIFLASH for system learning and optimization.

[0152] This hybrid working mode fully leverages the advantages of multi-sensor fusion and LCD display to provide users with comprehensive environmental awareness and safety assurance, enabling lawnmowers to adapt to more complex working environments.

[0153] This utility model of intelligent lawnmower instrument achieves a comprehensive, reliable, and user-friendly intelligent instrument system through multi-sensor fusion, high-integration design, and human-computer interaction optimization. It significantly improves the lawnmower's adaptability and safety in complex environments and harsh weather conditions, and provides a new technical solution for the development of intelligent gardening equipment.

Claims

1. A smart lawnmower instrument, characterized in that, The system includes a main control module, an ultrasonic sensor communication module, and a rainwater collection module. The ultrasonic sensor communication module is connected to the main control module via UART channels 2 and 3. The rainwater collection module is connected to the main control module via a digital-to-analog converter. The main control module is connected to an EEPROM storage module via an I2C bus, a FLASH storage module via an SPI bus, a serial port receiving and transmitting module via UART channel 0, and an LCD screen module, a button backlight module, and a button module via different GPIO ports. The main control module is also connected to a main power supply module and a switch detection module.

2. The intelligent lawnmower instrument according to claim 1, characterized in that, The ultrasonic sensor communication module includes two communication lines: The first communication line's pin UART2_TXD is connected to the main control module's pin UART2_TXD, and the first communication line's pin UART2_RXD is connected to the main control module's pin UART2_RXD. The pin UART3_TXD of the second communication line is connected to the pin UART3_TXD of the main control module, and the pin UART3_RXD of the second communication line is connected to the pin UART3_RXD of the main control module.

3. A smart lawnmower instrument according to claim 1 or 2, characterized in that, The yushu_ADC pin of the rainwater collection module is connected to the yushu_ADC pin of the main control module.

4. The intelligent lawnmower instrument according to claim 1, characterized in that, The I2C0_SCL pin of the EEPROM storage module is connected to the I2C0_SCL pin of the main control module, and the I2C0_SDA pin of the EEPROM storage module is connected to the I2C0_SDA pin of the main control module.

5. The intelligent lawnmower instrument according to claim 1, characterized in that, The SPI_CS pin of the SPI FLASH memory module is connected to the SPI_CS pin of the main control module; the SPI_MISO pin of the SPI FLASH memory module is connected to the SPI_MISO pin of the main control module; the SPI_WP pin of the SPI FLASH memory module is connected to the SPI_WP pin of the main control module; the SPI_CLK pin of the SPI FLASH memory module is connected to the SPI_CLK pin of the main control module; the SPI_MOSI pin of the SPI FLASH memory module is connected to the SPI_MOSI pin of the main control module; and the SPI_HOLD pin of the SPI FLASH memory module is connected to the SPI_HOLD pin of the main control module.

6. The intelligent lawnmower instrument according to claim 1, characterized in that, The UART0_TXD pin of the serial port receiving and transmitting module is connected to the UART0_TXD pin of the main control module, and the UART0_RXD pin of the serial port receiving and transmitting module is connected to the UART0_RXD pin of the main control module; the LP_UART_TXD pin of the serial port receiving and transmitting module is connected to the LP_UART_TXD pin of the main control module, and the TX_LEDOUT pin of the serial port receiving and transmitting module is connected to the TX_LEDOUT pin of the main control module.

7. A smart lawnmower instrument according to any one of claims 1 to 6, characterized in that, The LCD module's pins DATA0 to DATA7 are connected to the main control module's pins D0 to D7; the LCD module's pin RD is connected to the main control module's pin ERD; the LCD module's pin WR is connected to the main control module's pin RWR; the LCD module's pin RS is connected to the main control module's pin RS; the LCD module's pin CS is connected to the main control module's pin LCD_CS; and the LCD module's pin RST is connected to the main control module's pin LCD_RST.

8. The intelligent lawnmower instrument according to claim 1, characterized in that, The LED_OUT1 pin of the button backlight module is connected to the LED_OUT1 pin of the main control module; the KEY1 pin of the button module is connected to the KEY1 pin of the main control module, the KEY2 pin of the button module is connected to the KEY2 pin of the main control module, the KEY3 pin of the button module is connected to the KEY3 pin of the main control module, and the KEY4 pin of the button module is connected to the KEY4 pin of the main control module.

9. The intelligent lawnmower instrument according to claim 1, characterized in that, The IGN+_ON / OFF pin of the switch detection module is connected to the IGN+_ON / OFF pin of the main control module.

10. A smart lawnmower instrument according to any one of claims 1 to 9, characterized in that, The output pin VDD+3.3V of the main power module is connected to the power supply pins VDD+3.3V of the main control module, ultrasonic sensor communication module, rainwater collection module, LCD screen module, EEPROM storage module, SPI FLASH storage module, serial port receiving and transmitting module, and switch detection module, respectively; the output pin VDD2+5V of the main power module is connected to the power supply pins VDD2+5V of the ultrasonic sensor communication module, rainwater collection module, and LCD screen module, respectively; the GND pin of the main power module is connected to the GND pin of each module.

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