SOLAR-POWERED, ENERGY-CONTROLLED SEMI-AUTONOMOUS LAWN MOWING ROBOT

Abstract

The invention relates to an energy-driven semi-autonomous lawn mowing system that directly links photovoltaic energy production to drive control. The system comprises a photovoltaic panel, a maximum power point tracking unit, an energy storage unit, drive motors, cutting motors, energy production and consumption data, and a microcontroller control board. The microcontroller control board processes energy production and consumption data simultaneously, adaptively modifying the PWM signals sent to the drive motors. Thus, the system continues its task by reducing the driving speed in case of decreased energy production. The system features a graphical user interface controllable via wireless communication and offers a modular structure that can also operate with optional external boundary wire integration. The system also absorbs mechanical shocks thanks to its flexible cutting line.

Description

1 TARIFF SOLAR-POWERED, ENERGY-CONTROLLED SEMI-AUTONOMOUS LAWN MOWING ROBOT TECHNICAL AREA 5 The invention relates to the technical field of autonomous lawn mowing systems. Specifically, the invention; photovoltaic energy production, energy management, autonomous navigation, energy-driven driving. solar energy systems using motor control and semi-autonomous mobile robot systems in combination. It relates to an energy-powered lawn mowing robot. STATE OF THE ART Autonomous lawn mowing robots used in the known state of the art generally a non-energy generating device, powered by battery energy, with a defined operating area. a device that moves inside and charges when its energy level decreases. These are systems that recharge by returning to the charging station. In these systems, energy is 15 management mostly depends solely on battery charge level This is being implemented, and there is a direct link between energy production and driving characteristics. No control relationship is established. In the document with publication number WO2018000922A1, which is included in the known art, An autonomous 20 that moves within the work area with the help of navigation modules. The lawn mowing system is explained. The system includes a virtual workspace. The system is being created and the device is being guided via navigation data. However The document discusses how photovoltaic energy production can be directly translated into driving decisions. Simultaneous comparison of energy production and consumption data, according to the energy budget. adaptive modification of engine driving characteristics or energy production as the basis 25 The control architecture for this area is not described. Furthermore, system operational continuity is not addressed. It is dependent on external energy infrastructure in terms of energy supply. In the document with publication number EP3381257A1, which is included in the known technology, the base An autonomous lawn mowing system using a station and boundary cable is described. In this system, the device returns to the base station after the operation and its location is 30. With this correction, charging operations are performed via the base station. together in the document in question; the actual relationship between energy production and energy consumption Generating time-based energy production and energy consumption data, energy production data 2 The motor PWM signals are passed as control input to the navigation algorithm. Dynamically changing according to the energy budget or energy production / consumption Driving optimization based on balance is not explained. Instead, the system focuses on charging. It is based on a classic battery-based operating principle, dependent on its power station. Other systems within the known state of the art are camera-based 5 navigation, ultrasonic obstacle detection, route optimization, base station Solutions such as wireless charging and wireless power steering are being used. However, this In these systems, energy is considered solely as a power source; energy production No direct technical relationship is established between data and driving behavior, and energy Fuel consumption is not used as part of navigation control. 10 Additionally, existing systems may encounter dense grass, sloping terrain, or mechanical stress. Current increases occurring in these situations are directly considered as mechanical load data. not being evaluated; systems generally stop operation, go to charging station. It operates using a rotation or safety mode approach. This situation It reduces operational continuity and lowers energy efficiency. 15 The technical problem that the invention aims to solve is the existing autonomous lawn mowing system. Dependence on external charging stations seen in robots, operational interruptions, energy inefficiency, time losses due to rotation, and high energy consumption problems It is the elimination of. The invention also enables the real-time analysis of photovoltaic energy production data. monitoring, establishing a dynamic balance between energy production and energy consumption, and autonomous modification of driving characteristics based on this balance The aim is to ensure that the system functions properly in the event of a decrease in energy production. Instead of completely stopping them, the adaptive PWM control signals of the drive motors are used. The aim is to maintain operational continuity by changing it to this. 25 Another technical problem that the invention aims to solve is: thick grass, slopes, or mechanical electrical current changes caused by terrain stresses By enabling the evaluation of stress data, the energy of driving control is reduced. It is the optimization of energy consumption data in a guided manner. Thus, the system optimizes energy consumption data. 30 that not only monitors but also directly transmits the data to navigation and driving controls. It creates an integrated energy regulation architecture. 3 A BRIEF DESCRIPTION OF THE INVENTION The invention integrates photovoltaic energy generation directly into driving and navigation control. The invention relates to an energy-driven semi-autonomous lawn mowing robot. The system developed within this scope includes energy production, energy consumption, and driving characteristics. by establishing a real-time feedback control relationship between them, the existing autonomous 5 Operational interruption encountered in lawn mowing systems, dependence on charging stations. and solves energy inefficiency problems. The invention includes a photovoltaic panel positioned on the robot body. The energy obtained from the system is transferred to the maximum power point tracking unit via the energy. It is transferred to the storage unit. The energy production and storage units within the system are 10 Driving and cutting based on photovoltaic energy production data thanks to energy consumption data. The instantaneous energy consumption data of the motors are monitored in real time. Based on this data processed by the microcontroller control board, the system, It dynamically changes the driving characteristics according to the instantaneous energy budget. Decreased energy production, increased ground resistance, or mechanical stress 15 Instead of completely halting system operation in such cases, driving It adaptively reduces the PWM signals transmitted to its motors, thus saving energy. By reducing its consumption, it maintains operational continuity. In this way, the existing Unlike the "return to charging station" approach used in technology, energy an energy-driven control architecture that operates based on the production / consumption balance 20 is being created. The invention also allows motor current variations to be used as mechanical stress data. It includes a control approach that evaluates factors such as thick grass, slope, or elevation. In situations like friction, the increase in current drawn by motors increases energy production and energy efficiency. It is perceived through consumption data and the driving algorithm is based on this data, resulting in a real 25 It is optimized over time. Thus, the system does not require additional complex image processing. or energy-based adaptive systems without the need for costly sensor infrastructure. It performs driving control. The system described in this invention has a battery charge level comparable to the known state of the art. Unlike reactive and passive approaches, maximum power point tracking charging 30 instantaneous photovoltaic solar energy harvest data received from the control unit (2) Real-time which integrates directly as an active control input. 4 It includes an active decision-making mechanism with photovoltaic input. The system is used for production. control of electric drive motors depending on fluctuations in level Photovoltaic-Driven Dynamic Momentum Regulation by Modulating Signals This is achieved by balancing the input power with the output power consumed in the field. By managing in real time, the lithium-ion battery block (3) replaces the main power supply with 5 It is used as a buffer energy unit to stabilize the system. The system described in the invention operates autonomously without the need for an external boundary cable. It can perform navigation as well as control the system, route planning and initial operations. microcontroller control layer (6) to manage the installation configuration A wirelessly communicating Graphical User Interface (Mobile Application / Software 10) It includes the interface. The system also supports this radio semi-autonomous driving architecture and active without disrupting power modulation, in specific terrains requiring high security. An optional external boundary wire and its associated components to create a secondary security layer. A modular structure suitable for working with signal detection infrastructure. It offers. 15 The hybrid drive architecture used in this invention provides high traction force. High-efficiency electric cutting motors combined with electric drive motors. It is used. In addition, it features a low-inertia cutting disc structure and flexible cutting edges. Thanks to these components, mechanical shocks are dampened and engine seizing is prevented. is being reduced and the system's energy efficiency is being increased. 20 The main advantages offered by the invention are:  reduces dependence on external charging stations,  Real-time management of energy production and consumption data,  It performs adaptive driving control based on the energy budget,  reducing operational interruptions, 25  increasing energy efficiency,  Mechanical stresses, real-time energy production and energy consumption data being able to perceive it through,  Maintaining operational continuity even under low energy conditions,  making energy production a part of navigation decisions 30 They can be listed. LIST OF FIGURES Figure 1: Assembly of a solar-powered, semi-autonomous lawn mowing robot. general view Figure 2: Cutting mechanism and optional height adjustment of the robot that is the subject of this invention. This is a detailed view of its structure. 5 Figure 3: Drive and cutting line located on the system's lower chassis. This is a bottom view showing the independent arrangement of the elements. Figure 4: Photovoltaic energy harvesting, dynamic momentum regulation, and system. It is a logical block diagram (flowchart) that shows the autonomous control architecture. Figure 5: The robot harvesting solar energy in open field conditions, yielding 10 This is a representative view of the operation he carried out. The Correspondences of the Numbers Shown in the Figures 1. Electric drive motor 2. Maximum power point tracking (MPPT) charge controller unit 15 3. High-capacity lithium-ion battery pack 4. Motor driver module 5. Electronic speed control unit 6. Microcontroller control layer and wireless communication module 7. Rain detection sensor 20 8. Monocrystalline photovoltaic energy panel 9. Ultrasonic distance and obstacle detection sensor 10. Off-road type drive wheel and drive shaft assembly 11. Flexible cutting fishing line 12. Electric cutting motor 25 13. Main carrier chassis and mechanical body frame 14. Height adjustment mechanism DESCRIPTION OF THE FIGURES Figure 1 shows the overall specifications of a solar-powered, semi-autonomous lawn mowing robot. This is a technical view. The figure shows the energy production system, energy storage system, and drive system. The system includes the cutting system, sensor structures, control unit, and carrier chassis structure as a single unit. It is shown. 6 Figure 2 shows the detailed technical specifications of the cutting mechanism of the system described in the invention. This is the appearance. In the image; the flexible cutting line that performs the lawn mowing operation. (11), electric cutting motor with brushless direct current structure (12) and cutting The height adjustment mechanism (14) for the motors is shown together. Figure 3 shows the sub-sections of the energy-driven semi-autonomous lawn mowing robot, which is the subject of this invention. This is a general mechanical layout view of the section. In the figure; electric drive motors (1), Main carrier chassis and mechanical where the lithium-ion battery block (3) is located body frame (13), hybrid drive with off-road type drive wheel and drive shaft assembly (10) Electric cutting motors (12) that operate independently of the structure and height adjustment The mechanism (14) is shown together. 10 Figure 4 shows the adaptive power integrated within the scope of the invention. This is a block diagram of the regulation and navigation control architecture. In the figure; monocrystalline photovoltaic power panel, maximum power point tracking charge controller. unit, lithium-ion battery pack, microcontroller with central decision-making mechanism control layer, DC motor driver module, electronic speed control unit with 15 Bidirectional power between electric drive motors and electric cutting motors and Signal / data paths are shown within an integrated structure. Figure 5 shows the operational performance of the system in open field conditions. It is a representation of the scenario. In the figure; via a monocrystalline photovoltaic energy panel (8). The real-time solar energy harvesting provided is 20% dependent on an external charging station. its structure that ensures operational continuity without any limitations and off-road type drive wheels The general location within the work environment is shown together. DETAILED DESCRIPTION OF THE INVENTION The system described in the invention directly combines energy generation with drive control. It is an energy-driven semi-autonomous lawn mowing robot that uses photovoltaic energy. power generation, real-time energy production and energy consumption data, adaptive motor control. and autonomous driving functions integrated within the same system architecture. It is carrying out. Within the scope of this specification, the term 'energy-driven' means energy 30 Production and / or energy consumption data as driving control parameters It refers to its use. 7 The system electric drive motors (1), whose general technical view is given in Figure 1, maximum power point tracking charge controller unit (2), lithium-ion battery pack (3), motor driver module (4), electronic speed control unit (5), microcontroller control layer and wireless communication module (6), rain detection sensor (7), monocrystalline photovoltaic energy panel (8), ultrasonic distance and obstacle detection sensor (9), ground 5 type drive wheel and drive shaft assembly (10), flexible cutting line (11), electric cutting motor (12) and main carrier chassis and mechanical body frame (13) and cutting It consists of a height adjustment mechanism (14) for the motors. Monocrystalline photovoltaic energy panel (8), the system needs during operation It produces the electrical energy it needs. 10 obtained from the photovoltaic energy panel (8) The energy obtained is transferred to the charge controller unit (2) for maximum power point tracking. Maximum power point tracking charge controller (2), from photovoltaic energy panel (8) By continuously optimizing the obtained voltage and current values, lithium-ion It ensures that the battery pack (3) is charged in a controlled manner. Lithium-ion battery pack (3) is the energy storage unit of the system 15 However, within the scope of the invention, the battery block (3) is formed in the current technology. not as a primary energy source, but as a balance between energy production and consumption. It is used as a buffer energy unit to support the system. Thus, the system only Unlike classic autonomous lawn mowing systems that operate based on battery level They are diverging. 20 The invention includes energy production and energy consumption data; maximum power. point tracking charge control unit (2), motor driver module (4) and electronic speed using current and / or voltage data obtained via control unit (5) It is formed by the microcontroller control layer (6). The microcontroller control layer and wireless communication module (6) make up the system's 25 It forms the main control unit. Microcontroller control layer (6), Maximum power point tracking energy generation from charge controller (2) data and energy consumption data obtained via motor driver modules It operates simultaneously. Within this scope, the real information created within the system... Energy production and energy consumption data from a specific time are used to analyze energy production and energy consumption. Consumption is compared in real time. 8 The microcontroller control layer (6) determines the amount of energy produced and the amount of energy consumed. If the amount falls below this level, it is sent to the electric drive motors (1) It adaptively reduces PWM signals. Thus, the system optimizes operation. It continues its work by reducing energy consumption without completely shutting down. Thanks to the structure, the "return to charging station" approach included in the current technology is 5 Instead, dynamic driving control based on energy budget is implemented. Electric drive motors (1), for off-road type drive wheel and drive shaft assembly (10) is mechanically connected. High torque at low speed thanks to the geared structure. is obtained and the system progresses in sloping or high-resistance terrain conditions. is provided. 10 The electric cutting motor (12) included in the system has electronic speed control. It is driven via unit (5). The electric cutting motor (12) uses flexible cutting line. It performs the cutting operation by rotating the line (11). Flexible cutting line line (11) mechanically absorbs impacts from hard surface, stone or dense grass. It dampens the current. Thus, sudden lockup and overcurrent in the electric cutting motor are prevented. Its formation is reduced. Motor driver module (4) controls the direction and speed of electric drive motors (1). It performs the control. The electronic speed control unit (5) is the electric cutting unit. It provides engine (12) speed control. Thanks to this hybrid drive structure The driving system and the cutting system are controlled independently of each other. 20 Ultrasonic distance and obstacle detection sensor (9) around the system It detects obstacles and transmits data to the microcontroller control layer (6). The microcontroller control layer (6) drives based on the detected distance data. It can change direction. The rain detection sensor (7) can detect the precipitation situation. by enabling its detection, the system switches to the security protocol. 25 It provides. Microcontroller control layer (6); maximum power point tracking charging instantaneous charging current / voltage read via control unit (2) and direct current motor Discharge read via driver module (4) and electronic speed control unit (5) Using current / voltage data, determine the instantaneous input power and output power values ​​of the system. 30 It is constantly calculating. This power is based on real-time solar energy harvesting. its balance acts directly in the control algorithm, not as a limiter (constraint). 9 It is operated as a navigational parameter. This adaptive power is the one in question. Within the scope of regulation, PWM signals transmitted to the drive motors (1) increase the motor speed any type of alternating frequency modulation, pulse control or task regulation It also includes the principles of cycle change. The system can incorporate modular sensors or Even when environmental loads are added, the resulting additional energy cost is due to this dynamic energy modulation 5 and is instantaneously balanced by momentum regulation. Wireless communication Connected to the Graphical User Interface (Mobile Application) via module (6) During the initial setup phase, the user dimensionally defines the working area limits of the robot. Definitions. The subject of the invention is architecture, this advanced wireless and active energy-powered navigation. In addition to the model, 10 radiates from an external boundary wire surrounding the work area. with the integration of an optional limit sensor to detect electromagnetic signals It also has. The microcontroller (6) has the limit from the optional hardware in question. processing the signal as a primary safety limit command and driving It has the ability to orient the drive motors (1) to keep them within the area. Within the scope of the invention, energy consumption is only a monitoring parameter. It is not used. Both electric drive motors (1) and electric cutting The current values ​​drawn by the motor (12) are also considered as mechanical stress data. The motor is being evaluated in situations such as thick grass, high friction, or inclines. If the current increases, the microcontroller control layer (6) will detect the current. interpreting the change as an increase in mechanical load and modifying the PWM signals 20 This reduces driving speed. Therefore, the system doesn't require additional, expensive sensors. Adaptive driving control via energy production and energy consumption data without monitoring. It is carrying out. Main carrier chassis and mechanical body frame (13), system components It enables mechanical transport. The main carrier chassis structure, photovoltaic 25 energy panel (8), energy storage units, motor drivers and cutting It is designed to allow the mechanisms to work together. In this context, the invention relates to energy generation, energy consumption, driving control, and mechanics. By combining load data within the same control architecture, an energy-driven autonomous system can be created. It creates a working system. Thus, the system uses the current technology's charging 30 By deviating from classic structures dependent on the station, it focuses on the energy production / consumption balance. an autonomous energy regulation platform capable of changing its behavior in real time It creates. The invention is a solar-powered, semi-autonomous lawn mowing robot. to perform lawn mowing in open field conditions in the work area It is installed. When the system is started, the monocrystalline photovoltaic energy panel (8) electrical energy obtained through, maximum power point tracking, charge control It is transferred to the lithium-ion battery block (3) via unit (2). Simultaneously 5 microcontroller control layer (6), the amount of energy produced and the system components It continuously monitors energy consumption values. When the robot starts moving, electric drive motors (1), terrain type by turning the drive wheels (10) to move the system within the working area The electric cutting motor (12) provides the electronic speed control unit (5) 10 It rotates the flexible cutting line (11) by driving it over and mowing the lawn It is carrying out the process. When the system reaches an area with dense grass during operation, it cuts it. the load is increasing and accordingly the drive motors (1) and the cutting motor (12) The current it draws is increasing. The microcontroller control layer (6), energy production and 15 This current increase, perceived through energy consumption data, is correlated with mechanical stress data. It is considered as such. At the same time, photovoltaic energy due to cloud cover. when there is a decrease in the amount of energy produced from panel (8) The system has detected a decrease in the energy budget. In this case, the microcontroller control layer (6) continues the cutting operation 20 PWM signals sent to electric drive motors (1) in order to be able to drive It adaptively reduces the speed and decreases the robot's movement rate. Thus, the system Continue operating by reducing energy consumption without completely halting the operation. is doing. When the robot encounters an obstacle during operation, it uses ultrasonic distance and 25 Driving direction based on data received via obstacle detection sensor (9) It is changed. If rain starts, the rain detection sensor (7) Environmental data perceived by the microcontroller is sent to the control layer (6) is being transferred and the cutting process is being carried out by switching the system to the security protocol. It is being stopped. 30 In this study scenario, the system includes energy production, energy consumption, and mechanical processes. Strain and driving control simultaneously within the same control architecture. managing operational continuity without the need for an external charging station. It provides.

Claims

11 SYSTEMS 1. It is a semi-autonomous lawn mowing robot, and its features include: - a monocrystalline photovoltaic energy panel (8), - electrical 5 with the said monocrystalline photovoltaic energy panel (8) a connected maximum power point tracking charge controller unit (2), - a lithium-ion battery block (3), - at least four electric drive motors (1), - at least one electric cutting motor(12), 10  a motor driver that drives the electric drive motors (1) in question module (4), - an electronic speed control that drives the electric cutting motor (12) in question control unit (5), - by processing energy production and energy consumption data simultaneously 15 A microcontroller control layer that generates a PWM control signal, and wireless communication module (6) includes and - microcontroller control layer and wireless communication module (6), Maximum power point tracking instantaneous 20 received from charge controller (2) photovoltaic energy production data and electric drive motors (1) The instantaneous energy consumption data of the electric cutting motor (12) is continuously monitored. by comparing them, it establishes an energy balance value. the energy balance value below a predetermined threshold If it falls, PWM 25 is transmitted to the electric cutting motor (12) While keeping the signals constant, PWM transmitted to electric drive motors (1) adaptively reducing its signals and the energy balance in question driving speed of electric drive motors (1) depending on the value It is characterized by being structured in a way that allows for change.

2. A semi-autonomous lawn mowing robot conforming to Claim 1, featuring a microcontroller 30. current drawn by the control layer (6), electric drive motors (1) will interpret the increase in its value as mechanical stress data and the word the subject is electric drive motors depending on mechanical stress data (1) It is configured to reduce the transmitted PWM signals. 12 3. A semi-autonomous lawn mowing robot conforming to claim 1 or 2, with the following features: photovoltaic energy production data and motor energy consumption data are the same. processing within the microcontroller control layer (6) and the driving speed is mentioned The subject is determined by comparing the data.

4. A semi-autonomous lawn mowing robot that conforms to any of the requirements 1-3, 5 The feature is that the microcontroller control layer (6) produces the amount of energy. electric drive if the energy consumption amount is lower than while reducing the rotational speed of the motors (1) the electric cutting motor (12) It is configured to maintain a constant rotational speed.

5. A semi-autonomous lawn mowing robot that meets any of the requirements 1-4, and 10 Its feature is the electric cutting motor (12), flexible cutting line (11) It is configured to rotate.

6. A semi-autonomous lawn mowing robot conforming to claim 5, featuring a flexible cutting mechanism. The fishing line (11) will absorb mechanical shock and sudden load changes It is formed in an elastic structure. 15 7. A semi-autonomous lawn mowing robot that conforms to any of the requirements 1-6, Features; electric drive motors (1), off-road type drive wheels and drive It is positioned to rotate the spindle group (10).

8. A semi-autonomous lawn mowing robot that conforms to any of the requirements 1-7, Its feature is that the microcontroller control layer (6) reduces energy production by 20 In case of an energy deficit caused by the connection, the driving speed will be reduced. It is structured.

9. A semi-autonomous lawn mowing robot that conforms to any of the requirements 1-8, Its feature is to convert the PWM signals transmitted to the electric drive motors (1) into reality. It is structured to change periodically. 25 10. A semi-autonomous lawn mowing robot that conforms to any of claims 1-9, Features; ultrasonic distance and obstacle detection sensor (9) and rain detection It includes the sensor (7).

11. A semi-autonomous lawn mowing robot that conforms to any of the requirements 1-10, Feature; maximum power point tracking charge controller (2), photovoltaic 30 13 lithium-ion battery depending on the energy obtained from the energy panel (8) It is configured to charge the block (3).

12. A semi-autonomous lawn mowing robot that conforms to any of the claims 1-11, Its feature is the microcontroller control layer and wireless communication module (6), without being fully dependent on an external base station or border cable, 5 to provide data communication via a closed-circuit local access point It is structured.

13. A semi-autonomous lawn mowing robot that conforms to any of the claims 1-12, Its feature is the microcontroller control layer and wireless communication. Establishing bidirectional data communication with module (6), 10 during the initial setup phase of the robot It enables map generation and the transmission of autonomous navigation commands. It includes a graphical user interface (mobile application / software interface).

14. A semi-autonomous lawn mowing robot that conforms to any of claims 1-13, Its feature is an additional hardware component to the system's energy-driven autonomous navigation. 15 that can be placed at the boundaries of the work area to provide a security layer. It will detect electromagnetic signals emanating from an external boundary wire and an optional limit detection to transmit to the microcontroller control layer (6) It includes a sensor module. 25

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