Mowing robot and working method therefor

Abstract

The present invention belongs to the technical field of mowing. Disclosed are a mowing robot and a working method therefor. The working method comprises a positioning method, which comprises the following steps: S1, installing a micro base station, and determining initial coordinates of the micro base station; S2, sending the initial coordinates of the micro base station and real-time coordinates of the micro base station to a mobile station, so as to provide required differential calculation data for the mobile station; S3, receiving, by means of on-board RTK antennas, a signal sent from the micro base station, wherein the on-board RTK antennas simultaneously receive the same satellite signal, and use an equipped electronic field controller to perform real-time calculation and correct position information of the on-board RTK antennas, so as to obtain deviation values; S4, calculating the deviation values in step S3 by means of an inertial navigation system; and S5, calculating an average error of the deviation values in step S4, so as to obtain real-time dynamic position information of a device. In the present invention, RTK+a micro base station and RTK+inertial navigation technology are used to meet the working requirements for higher positioning precision, more convenient mapping and more intelligent obstacle avoidance.

Description

A lawn mowing robot and its working method Technical Field

[0001] The present invention relates to the technical field of lawn mowing equipment, and in particular to a lawn mowing robot and a working method thereof. Background Art

[0002] Traditional handheld or push lawn mowers rely heavily on manual labor, requiring significant time and effort. For example, in Europe, a typical garden mowing service costs approximately €200-300. With the increasing prevalence of smart home devices, these devices will eventually be replaced by intelligent robotic lawn mowers that operate autonomously, minimizing manual intervention.

[0003] The first generation of smart robotic lawn mowers required pre-installed boundary lines, installation, and maintenance, which posed a risk of boundary line damage, potentially rendering the mower inoperable. These mowers lacked positioning capabilities and route planning, forcing them to move randomly and erratically. This led to issues such as repeated mowing and partial uncut areas, resulting in low efficiency and poor mowing quality. Furthermore, these first generation smart lawn mowers lacked non-contact obstacle detection, only safety collision detection. This meant they couldn't consistently and accurately identify and assess obstacles.

[0004] Therefore, a technical solution is urgently needed to solve the above-mentioned shortcomings.

[0005] Summary of the Invention

[0006] In view of the deficiencies in the prior art, the present invention provides a lawn mowing robot and a working method thereof.

[0007] The technical solution of the present invention to solve the above technical problems is as follows:

[0008] A method for operating a lawn mowing robot includes a positioning method. The positioning method is a calculation method based on an RTK+inertial navigation system, specifically comprising the following steps:

[0009] S1. Install the micro base station and determine the initial coordinates of the micro base station;

[0010] S2. Sending the initial coordinates (x, y, z) of the micro base station and the real-time coordinates (x1, y1, z1) of the micro base station to the mobile station to provide the mobile station with the required comprehensive positioning error (Δx, Δy, Δz), Δx = x-x1, Δy = y-y1, Δz = z-z1; wherein the initial coordinates of the micro base station and the real-time coordinates of the micro base station are obtained through multiple satellite positioning;

[0011] S3. Receive the signal sent from the micro base station through the vehicle-mounted RTK antenna. The vehicle-mounted RTK antenna simultaneously receives the same satellite signal and uses the equipped electronic handheld controller to perform real-time calculation and correction of the position information of the vehicle-mounted RTK antenna to obtain the deviation value.

[0012] S4, calculating the deviation value in step S3 by the inertial navigation system;

[0013] S5. Calculate the average error of the deviation value in step S4 to obtain the real-time dynamic position information of the device.

[0014] Furthermore, a route planning method is included, which is based on the accuracy of the positioning method, and the specific steps include:

[0015] S6. Install a charging pile, establish a rectangular coordinate system with the charging pile as the coordinate origin (0,0), and divide the lawn area into four quadrants;

[0016] S7, map creation, setting the restricted area of ​​the mowing robot according to the actual boundary of the lawn, and obtaining a working map of the mowing robot;

[0017] S8. Based on the coordinates of the actual lawn boundary in each quadrant determined in step S7 and the cutter disc diameter D1, determine the width L of each mowing motion of the mowing robot, where width L = D1 - B, where B is the mowing overlap size, which is determined based on the lawn density and grass variety.

[0018] S9. When the robot mower is 100 mm away from the actual boundary of the lawn, it turns around and proceeds to the next row of lawns until the lawns in the entire map area are processed.

[0019] Furthermore, the mapping method in step S7 includes point mapping and remote control mapping;

[0020] The specific method of dotting and mapping is as follows: first measure the actual boundary of the lawn, set the position of the actual key points on the terminal app, connect the actual key points to form a working map, and upload it to the terminal app; simulate the lawn mowing robot walking on the terminal app map to ensure that the position of the key points on the terminal app map is consistent with the position of the actual key points; click "Restricted Area Settings" on the terminal app, determine the actual position of the restricted area, and then dot the corresponding position on the app map to circle the restricted area and the restricted area. After the setting is completed, confirm the completion of the mapping;

[0021] The specific method of remote control mapping is as follows: through the terminal's mapping module, the remote-controlled lawn mower robot walks around the actual boundary of the lawn, and the position information of the lawn mower robot during the walking process is uploaded to the control system in real time; the method of setting the restricted area position is the same as the method of setting the lawn boundary. Click the "Restricted Area Setting" function on the terminal APP to remotely control the lawn mower robot to set the restricted area boundary.

[0022] Furthermore, an obstacle avoidance method is included, which is an obstacle avoidance method based on dual judgment of ultrasonic sensors and collision sensors, and specifically includes the following steps:

[0023] S10. Set fences and objects outside the boundary and within the restricted area as non-obstructions;

[0024] S11. When the lawn mower robot is working, the ultrasonic transmitter emits an ultrasonic signal in a certain direction. The timing starts at the moment of emission. The ultrasonic wave propagates through the air. If it encounters an obstacle during propagation, it will be reflected and propagated back immediately. The ultrasonic receiver stops timing immediately when it receives the reflected wave.

[0025] S12. Calculate the distance (s) from the launch point to the obstacle using the formula: s = 340t / 2. When s < 20 cm, the robot's terminal software analyzes the obstacle. If it determines the obstacle is a leaf or a trampled object, the robot will directly move over it. If it determines the obstacle is an ordinary obstacle, the robot will turn around and continue mowing. When the robot returns to the location and cannot sense it, it will be considered as clear.

[0026] S13. When the lawn mower robot mechanically collides with an object, the anti-collision guard plate of the vehicle body will trigger the sensor provided on the lawn mower robot. The device directly determines that it is an obstacle and repeats the obstacle avoidance action in S12.

[0027] A lawn mowing robot employing the above-mentioned working method comprises a charging station and a robot body, wherein the charging station is used to charge the robot body; the robot body comprises a body, a chassis, front wheels, rear wheels, an upper shell, a lower shell, and a cutter disc assembly, wherein the chassis and the upper shell are fixed by screws and provided with a waterproof sealing strip for waterproofing;

[0028] A network card board is provided at the front end of the chassis for inserting a network card. A card board cover for sealing the network card board is provided at the bottom of the chassis. The card board cover has a built-in sealing strip for waterproofing.

[0029] The front wheels and rear wheels are respectively located on both sides of the chassis, the rear wheels are driving wheels, the front wheels are driven wheels, and the front wheels can rotate 360 ​​degrees.

[0030] Furthermore, the cutterhead assembly includes a plurality of blades mounted on the cutterhead, the rotation of the cutterhead is driven by a cutterhead motor, the cutterhead is provided with a protective cover, the cutterhead motor is mounted on a cutterhead motor housing, the housing of the cutterhead motor is connected to a cutterhead frame assembly, and the cutterhead frame assembly rises and falls in a vertical direction;

[0031] The robot body includes an adjustment part, which is provided with a toothed structure. The toothed structure is spirally arranged along the circumference of the adjustment part. An adapter plate is provided on the outside of the cutter disc motor housing. The adapter plate is located on the toothed structure. The adapter plate is engaged with the toothed structure, and the rotation of the toothed structure drives the cutter disc frame group to rise and fall as a whole.

[0032] Furthermore, the robot body also includes a sensor system and an AI camera. The sensor system includes a first sensor located at the front end of the vehicle body for determining distance; a second sensor located on the inner side of the bottom of the vehicle body for providing feedback to the control system when the vehicle body collides with an obstacle; and a third sensor located inside the front wheel for providing feedback to the control system when the front wheel is lifted.

[0033] The front end of the vehicle body is connected to an anti-collision guard plate through an elastic body, and a sensing device 1 is installed on the upper end of the anti-collision guard plate, and the sensing device 1 is used to sense the sensor 2 set at the bottom of the vehicle body;

[0034] The control system is integrated on a main control board, which is fixed on the chassis and connected to a mobile phone APP via Bluetooth, WiFi or the Internet.

[0035] Furthermore, the upper shell is provided with an emergency stop switch, which is a self-resetting emergency stop switch. The emergency stop switch includes a button, one end of which is equipped with a spring 1, the end of which is inserted into the positioning protrusion on the upper shell, and the other end of the button is equipped with a sensing device 2, which is used to sense sensor 3.

[0036] Furthermore, the charging pile includes a lower body and an upper body connected to the lower body, the lower body and the upper body are connected by a buckle or bolt, the robot body is located on the lower body, and a ground sensor line is arranged on the lower body for determining whether the robot body has reached the charging pile;

[0037] The upper body includes an upper body frame and an upper body cover connected to the upper body frame, and the upper body cover is provided with a LOGO breathing light; electrode sheets are respectively provided on both sides of the upper body frame, and the electrode sheets are elastically set. When the robot body enters the charging pile for charging, the electrode sheets are pressed down; when the robot body exits the charging pile, the electrode sheets pop up.

[0038] Furthermore, the lower seat is provided with dot-shaped or strip-shaped anti-slip protrusions.

[0039] In summary, compared with the prior art, the above technical solution has the following beneficial effects:

[0040] (1) The present invention provides a working method for a lawn mower robot, which uses RTK+micro base station to achieve centimeter-level positioning of the lawn mower robot; and uses RTK+inertial navigation technology to enable the intelligent lawn mower to move stably and accurately along the planned work route;

[0041] This invention uses intelligent ultrasonic sensors and AI camera technology to enable the intelligent lawn mower robot to accurately identify obstacles, providing a judgment basis for intelligent obstacle avoidance. The APP intelligent housekeeper can complete a series of tasks such as intelligent mapping, machine settings, and work schedule scheduling, achieving more accurate positioning, more convenient mapping, and more intelligent obstacle avoidance.

[0042] (2) The present invention provides a lawn mower robot with anti-slip protrusions on the lower body to increase the friction on the plane of the lower body, thereby preventing the driving wheels from idling after the lawn mower reaches the charging pile and increasing the accuracy of electrode docking. The elastic setting of the electrodes increases the fault tolerance during electrode docking.

[0043] (3) The present invention provides a lawn mowing robot that can protect the blades by providing a protective cover on the cutter disc. Since the cutter disc rotates at high speed during operation, the protective cover can prevent the blades from flying out and causing safety hazards. The comb teeth on the protective cover can comb the grass to be cut in advance, making the mowing efficiency higher.

[0044] (4) The present invention provides a lawn mowing robot that, by installing a sensor 1, can identify objects that may appear within the upper, lower, left, and right angles in front of it in real time according to a set angle range. The main control chip inside the machine will analyze the details of the object based on the information collected by the sensor 1, such as the size of the object, the relative distance, etc., and determine whether it is an obstacle through the obstacle screening program, and execute the obstacle avoidance mechanism; the boundary area and the non-edge area are set differently by the system. The boundary area is normally blocked by a fence, and the sensor 1 feeds back to the system to automatically determine it as a boundary fence. In the non-boundary area, it is determined as an obstacle. The boundary area includes the restricted area boundary. Through this method, the robot can accurately determine the obstacle and avoid it;

[0045] (5) The present invention provides a lawn mowing robot, in which the emergency stop switch is designed as a self-resetting emergency stop switch. This method is suitable for a self-locking circuit serial emergency stop signal. After the emergency stop button is pressed, the signal line is disconnected, and the self-locking circuit stops the device from running. Even if the button is reset, it will not start automatically. Or the emergency stop system is controlled by a single-chip microcomputer program (used in this device). After the emergency stop is pressed, the signal is disconnected, and the single-chip microcomputer system triggers the emergency stop program to stop the device from running. Through the principle of leverage, the human-operated button part and the high-performance magnetic steel part and the fulcrum form a lever ratio. The button part is pressed down with a small stroke, and the high-performance magnetic steel moves with a large stroke through the fulcrum to achieve the purpose of completely opening and closing the magnetic field induction area, meeting the conditions required by the normal operating mechanism principle, and having the advantage of a small stroke distance when pressed by external force. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] FIG1 is a schematic diagram of a working method of a lawn mowing robot according to an embodiment of the present invention;

[0047] FIG2 is a data flow diagram of a working method of a lawn mowing robot according to an embodiment of the present invention;

[0048] FIG3 is a coordinate diagram with the charging base as the coordinate origin in a working method of a lawn mowing robot according to an embodiment of the present invention;

[0049] FIG4 is an overall assembly diagram of a charging station and a lawn mower robot in an embodiment of the present invention;

[0050] FIG5 is a schematic structural diagram of a charging pile in a lawn mowing robot according to an embodiment of the present invention;

[0051] FIG6 is a schematic diagram of the structure of a charging station and a power adapter in a lawn mowing robot according to an embodiment of the present invention;

[0052] FIG7 is a schematic structural diagram showing an upper housing, an outer housing, and a lower housing of a lawn mowing robot according to an embodiment of the present invention;

[0053] FIG8 is a schematic diagram showing a chassis and blades of a lawn mowing robot according to an embodiment of the present invention;

[0054] FIG9 is a schematic structural diagram of a cutter head assembly and an adjustment unit in a lawn mowing robot according to an embodiment of the present invention;

[0055] FIG10 is a cross-sectional view of a cutter head assembly and an adjustment portion of a lawn mowing robot according to an embodiment of the present invention;

[0056] FIG11 is a schematic structural diagram of a lawn mowing robot with highlighted air vents according to an embodiment of the present invention;

[0057] FIG12 is a schematic structural diagram of a second protruding sensor in a lawn mowing robot according to an embodiment of the present invention;

[0058] FIG13 is a cross-sectional view showing a cutter disc motor in a lawn mowing robot according to an embodiment of the present invention;

[0059] FIG14 is an enlarged view of portion A in FIG13 ;

[0060] FIG15 is a schematic structural diagram of a lawn mowing robot with a prominent emergency stop switch according to an embodiment of the present invention.

[0061] Explanation of the accompanying symbols: 1. Charging pile; 11. Upper seat; 111. Upper seat frame; 1111. Electrode sheet; 112. Upper seat cover; 1121. LOGO breathing light; 12. Lower seat; 121. Anti-slip protrusion; 2. Robot body; 21. Vehicle body; 22. Chassis; 23. Front wheel; 24. Rear wheel; 25. Upper shell; 26. Lower shell; 27. Outer shell; 28. Vehicle body electrode; 29. ​​Network card board; 30. Sound-permeable hole; 31. Cutter head; 32. Blade; 33. Cutter head motor; 34. Cutter head frame assembly ; 35. Adjustment unit; 36. Cutter motor housing; 37. Tooth structure; 38. Protective cover; 39. Sensor 1; 40. Sensor 2; 41. Sensor 3; 42. Control system; 43. Main control board; 44. Power system; 45. Emergency stop switch; 46. Spring; 47. Fulcrum; 48. Rain sensor; 49. Sensing device 2; 50. Positioning protrusion; 51. Power adapter; 52. Ground sensing line; 53. Power management board; 54. Adapter board; 55. Anti-collision guard plate; 56. Adjustment knob; 57. Block. DETAILED DESCRIPTION

[0062] The principles and features of the present invention are described below in conjunction with all the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0063] The embodiment of the present invention discloses a lawn mowing robot and a working method thereof.

[0064] In a first aspect, an embodiment of the present invention provides a working method of a lawn mowing robot.

[0065] 1 to 3 , a working method of a lawn mowing robot includes a positioning method. The positioning method is a calculation method based on an RTK+inertial navigation system, specifically comprising the following steps:

[0066] S1. Install the micro base station and determine the initial coordinates of the micro base station;

[0067] S2. Sending the initial coordinates (x, y, z) of the micro base station and the real-time coordinates (x1, y1, z1) of the micro base station to the mobile station to provide the mobile station with the required comprehensive positioning error (Δx, Δy, Δz), Δx = x-x1, Δy = y-y1, Δz = z-z1; wherein the initial coordinates of the micro base station and the real-time coordinates of the micro base station are obtained through multiple satellite positioning;

[0068] S3. Receive the signal sent from the micro base station through the vehicle-mounted RTK antenna. The vehicle-mounted RTK antenna simultaneously receives the same satellite signal and uses the equipped electronic handheld controller to perform real-time calculation and correction of the position information of the vehicle-mounted RTK antenna to obtain the deviation value.

[0069] S4, calculating the deviation value in step S3 by the inertial navigation system;

[0070] S5. Calculate the average error of the deviation value in step S4 to obtain the real-time dynamic position information of the device.

[0071] The working method also includes a route planning method, which is based on the accuracy of the positioning method and includes the following specific steps:

[0072] S6. Install a charging pile, establish a rectangular coordinate system with the charging pile as the coordinate origin (0,0), and divide the lawn area into four quadrants;

[0073] S7, map creation, setting the restricted area of ​​the mowing robot according to the actual boundary of the lawn, and obtaining a working map of the mowing robot;

[0074] Step S7: Mapping methods include point-based mapping and remote-control mapping.

[0075] The specific method of dotting and mapping is as follows: first measure the actual boundary of the lawn, set the position of the actual key points on the terminal app, connect the actual key points to form a working map, and upload it to the terminal app; simulate the lawn mowing robot walking on the terminal app map to ensure that the position of the key points on the terminal app map is consistent with the position of the actual key points; click "Restricted Area Settings" on the terminal app, determine the actual position of the restricted area, and then dot the corresponding position on the app map to circle the restricted area and the restricted area. After the setting is completed, confirm the completion of the mapping;

[0076] The specific method of remote control mapping is as follows: through the terminal's mapping module, the remote-controlled lawn mower robot walks around the actual boundary of the lawn, and the position information of the lawn mower robot during the walking process is uploaded to the control system in real time; the method of setting the restricted area position is the same as the method of setting the lawn boundary. Click the "Restricted Area Setting" function on the terminal APP to remotely control the lawn mower robot to set the restricted area boundary.

[0077] S8. Based on the coordinates of the actual lawn boundary in each quadrant determined in step S7 and the cutter disc diameter D1, determine the width L of each mowing motion of the mowing robot, where width L = D1 - B, where B is the mowing overlap size, which is determined based on the lawn density and grass variety.

[0078] S9. When the robot mower is 100 mm away from the actual boundary of the lawn, it turns around and proceeds to the next row of lawns until the lawns in the entire map area are processed.

[0079] The obstacle avoidance method is based on the dual judgment of ultrasonic sensors and collision sensors, which includes the following steps:

[0080] S10. Set fences and objects outside the boundary and within the restricted area as non-obstructions;

[0081] S11. When the lawn mower robot is working, the ultrasonic transmitter emits an ultrasonic signal in a certain direction. The timing starts at the moment of emission. The ultrasonic wave propagates through the air. If it encounters an obstacle during propagation, it will be reflected and propagated back immediately. The ultrasonic receiver stops timing immediately when it receives the reflected wave.

[0082] S12. Calculate the distance (s) from the launch point to the obstacle using the formula: s = 340t / 2. When s < 20 cm, the robot's terminal software analyzes the obstacle. If it determines the obstacle is a leaf or a trampled object, the robot will directly move over it. If it determines the obstacle is an ordinary obstacle, the robot will turn around and continue mowing. When the robot returns to the location and cannot sense it, it will be considered as clear.

[0083] S13. When the lawn mower robot mechanically collides with an object, the anti-collision guard plate of the vehicle body will trigger the sensor provided on the lawn mower robot. The device directly determines that it is an obstacle and repeats the obstacle avoidance action in S12.

[0084] The workflow and instruction feedback of a lawn mowing robot working method are as follows:

[0085] 1. Path tracking: Tracking driving based on RTK high-precision positioning, and path planning function on the WEB or mobile terminal.

[0086] 2. Obstacle avoidance: Based on ultrasonic detection of obstacles or stepping on the air, the vehicle stops and performs emergency obstacle avoidance when encountering an obstacle.

[0087] 3. Automatic return: When the operation is completed or encounters abnormal conditions such as low battery or rain, it will automatically return to the charging station for charging.

[0088] 4. Abnormal handling: When abnormal posture is detected, such as lifting or overturning, all motors will be stopped to avoid personal injury.

[0089] 5. Remote control: It can be operated remotely through a remote control or mobile phone APP. The action design of remote control operation should take into account the instability of wireless connection.

[0090] The main data flows supporting the described working method are as follows:

[0091] 1. RTCM differential data is sent from the 4G module to the RTK module via UART. The RTCM data is obtained by the code on the 4G module via 4G, Wi-Fi, or digital transmission.

[0092] 2. The car communicates with the background through the STM32 code and the 4G code, and the data is sent and received by connecting to the background through 4G or WIFI.

[0093] 3. The mobile phone APP communicates with the car. The 4G code receives the instructions of the mobile phone APP through the BT module, packages them and sends them to the car.

[0094] In a second aspect, an embodiment of the present invention provides a lawn mowing robot, which adopts the above-mentioned working method.

[0095] 4 to 15 , a lawn mowing robot adopts the above-mentioned working method, including a charging pile 1 and a robot body 2 , wherein the charging pile 1 is used to charge the robot body 2 .

[0096] The charging station 1 includes a lower body 12 and an upper body 11 connected to the lower body 12. The lower body 12 and the upper body 11 are connected by a buckle or bolt. The back of the upper body 11 is plugged into a power adapter 51, which is connected to a household outlet. The power adapter 51 has a voltage range of 100-240A, including but not limited to both Chinese and European standards.

[0097] The robot body 2 is located on the lower body 12 , and a ground sensing line 52 is arranged on the lower body 12 for determining whether the robot body 2 has reached the charging pile 1 .

[0098] The lower base 12 is provided with anti-skid protrusions 121, including but not limited to dot-shaped or strip-shaped structures. The anti-skid protrusions 121 increase the friction on the plane of the lower base 12, thereby preventing the rear wheels 24 from idling after the lawn mower reaches the charging station 1 and improving the accuracy of electrode docking.

[0099] The upper body 11 includes an upper body frame 111 and an upper body cover 112 connected to the upper body frame 111. The upper body cover 112 is provided with a LOGO breathing light 1121. The LOGO breathing light 1121 includes but is not limited to a circle. The LOGO breathing light 1121 can change into different forms according to the status of the charging pile 1, for example, it flashes when charging, and is always bright or always dim when not charging.

[0100] Electrode pads 1111 are mounted on either side of the upper frame 111. These pads are elastically connected to the upper frame 111 via a support structure. When the robot body 2 enters the charging station 1 for charging, the pads 1111 are depressed; when the robot body 2 exits the charging station 1, the pads 1111 spring upward. This elastic electrode docking arrangement increases the tolerance for errors during docking.

[0101] The robot body 2 comprises a body 21, chassis 22, front wheels 23, rear wheels 24, an upper housing 25, a lower housing 26, an outer housing 27, and a cutterhead 31. The outer housing 27 is fixed to the chassis 22 and upper housing 25. The chassis 22 and upper housing 25 are secured with screws and sealed with waterproof sealing strips. Body electrodes 28, which mate with electrode sheets 1111, are located on either side of the front end of the upper housing 25.

[0102] There are two front wheels 23 and two rear wheels 24, and the front wheels 23 and the rear wheels 24 are respectively located on both sides of the chassis 22. The rear wheels 24 are driving wheels, and the front wheels 23 are driven wheels. The front wheels 23 can rotate 360 ​​degrees. Staggered protrusions are set on the tire surface of the rear wheels 24 to increase the friction between the vehicle and the driving surface during driving.

[0103] A network card board 29 is provided at the front end of the chassis 22 for inserting a network card. A card board cover for sealing the network card board 29 is provided at the lower part of the chassis 22. The card board cover has a built-in sealing strip for waterproofing, which plays a role of waterproof sealing. The waterproof grade can reach IPX7.

[0104] The bottom of the chassis 22 is provided with a sound-permeable hole 30, and a waterproof sound-permeable membrane is attached to the inner side of the sound-permeable hole 30. The design of the sound-permeable hole 30 can make the system alarm sound smoothly transmit while preventing water from penetrating into the interior of the device, thereby increasing its lifespan.

[0105] The cutterhead assembly includes three blades 32 mounted on a cutterhead 31, arranged evenly around the circumference of the cutterhead 31. The cutterhead 31 is driven by a cutterhead motor 33, which is mounted on a cutterhead motor housing 36. This motor housing 36 is connected to a cutterhead frame 34 via a hinged connection, allowing the cutterhead frame 34 to rise and fall vertically.

[0106] The robot body 2 includes an adjustment portion 35, on which a toothed structure 37 is provided. The toothed structure 37 is spirally arranged along the circumference of the adjustment portion 35. An adapter plate 54 is provided on the outside of the cutter disc motor housing 36. The adapter plate is located on the toothed structure 37. The adapter plate 54 engages with the toothed structure 37, and the rotation of the toothed structure 37 drives the cutter disc frame group 34 to rise and fall as a whole.

[0107] It should be noted that, in an embodiment of the present invention, the rotation of the adjustment part 35 is driven by the adjustment knob 56. A card block 57 is provided at the top of the adjustment part 35. The card block 57 is located in the adjustment knob 56, and a card slot for adapting to the card block 57 is provided in the adjustment knob 56. The card block 57 is located in the card slot. By rotating the adjustment knob 56, the card block 57 can be driven to rotate, thereby realizing the rotation of the adjustment part 35.

[0108] Taking the lowering of the height of the cutter disc frame group 34 as an example, when the cutter disc frame group 34 is located at the initial position of the tooth structure 37 (the higher end, so that the cutter disc 31 frame group has room to descend), the tooth structure 37 is driven to rotate by the rotation of the adjustment part 35. At this time, the initial contact surface between the cutter disc frame group 34 and the tooth structure 37 changes, causing the cutter disc 31 frame group to descend and contact the lower end of the tooth structure 37, thereby achieving the purpose of changing the height of the cutter disc frame group 34.

[0109] The cutter disc 31 is provided with a protective cover 38, which can protect the blade 32; because the cutter disc 31 is in a high-speed rotating state when working, the protective cover 38 can prevent the blade 32 from flying out and causing a safety hazard; the comb teeth on the protective cover 38 can comb the grass to be cut in advance, making the mowing efficiency higher.

[0110] The robot body 2 also includes a sensor system and an AI camera. The sensor system includes a distance-determining sensor 39 located at the front of the robot body 21. This ultrasonic sensor is used in pairs, symmetrically positioned left and right, similar to binocular vision. These sensors can sense objects within a certain range and calculate their distance. The two sensors 39 are mounted horizontally on either side, and based on a set angular range, they can identify objects directly in front of them, above, below, to the left, and right, in real time. The main control chip within the robot analyzes the details of the objects, such as their size and relative distance, based on the information collected by the sensor 39. It then uses an obstacle screening program to determine whether they are obstacles and initiate an obstacle avoidance mechanism.

[0111] The system settings for boundary areas and non-edge areas are different. The boundary area is normally blocked by a fence. Once sensor 1 is fed back to the system, it will automatically be judged as a boundary fence. In the non-boundary area, it will be judged as an obstacle. The boundary area includes the restricted area boundary. Through this method, the robot can accurately judge obstacles and avoid them.

[0112] The sensor system also includes a second sensor 40 provided on the inner side of the bottom of the vehicle body 21. There are two second sensors 40, each located near the front end of the inner side of the bottom of the vehicle body 21. When the vehicle body 21 collides with an obstacle, the second sensor 40 is used to provide feedback to the control system 42.

[0113] The sensor system also includes a sensor three 41 provided inside the front wheel 23. When the front wheel 23 is lifted, the sensor three 41 is used to provide feedback to the control system 42. This setting method can immediately stop the vehicle when the collision displacement reaches 5mm, and the response is quick and timely.

[0114] The front end of the vehicle body 21 is connected to an anti-collision guard plate 55 through an elastic body, and a sensing device 1 is installed on the upper end of the anti-collision guard plate 55. The sensing device 1 is used to sense the sensor 2 40 set at the bottom of the vehicle body 21.

[0115] The control system 42 is integrated on a main control board 43 , which is fixed on the chassis 22 , and the main control board 43 is connected to a mobile phone APP via Bluetooth, WiFi or the Internet.

[0116] The upper housing 25, located behind the vehicle body electrode 28, also houses a fixed control panel and RTK antenna. The RTK antenna can be placed symmetrically on the left and right sides of the vehicle body 21 or on the central axis of the vehicle body 21. The RTK antenna can achieve centimeter-level positioning, ensuring the accuracy of the mowing route set by the lawn mower robot and the smooth docking of the robot body 2 and the charging station 1.

[0117] An emergency stop switch 45 is mounted at the end of the upper housing 25. This switch is equipped with a second sensing device 49 for sensing sensor 3 41. A rain sensor 48 is mounted on the right rear side of the upper housing 25. All electrical wiring outside the upper housing 25 is sealed and waterproofed by a waterproof seal ring fixed to the housing.

[0118] The emergency stop switch 45 includes a button, and a spring 46 is installed below the button. The end of the spring 46 is inserted into the positioning protrusion 50 on the upper shell 25. Support rods are provided on both sides of the button to connect to the vehicle body, serving as a fulcrum 47 for the button action. The emergency stop switch 45 is a self-resetting emergency stop switch 45. This method is suitable for a self-locking circuit serial emergency stop signal. After the emergency stop switch 45 is pressed, the signal line is disconnected, and the self-locking circuit stops the equipment from running. Even if the button is reset, it will not start automatically. Or the emergency stop system is controlled by a single-chip microcomputer program (used in this device). After the emergency stop switch 45 is pressed, the signal is disconnected, and the single-chip microcomputer system triggers the emergency stop program to stop the equipment from running. Through the lever principle, the human-operated button forms a lever ratio with the high-performance magnetic steel part and the fulcrum 47. The button is pressed down for a small stroke, and moves through the fulcrum 47 and the high-performance magnetic steel for a large stroke to achieve the purpose of completely opening and closing the magnetic field sensing area, meeting the conditions required by the normal operation mechanism principle. It has the advantage of a small pressing distance when external force is applied.

[0119] The robot body 2 also includes a power system 44, which primarily consists of batteries, a battery level indicator, and a power management board 53 secured within the charging station 1. The batteries are housed in a battery compartment on the rear side of the chassis 22. The compartment is sealed with a battery cover with built-in sealing strips, ensuring a waterproof seal that reaches IPX7. A battery cable connects the internal opening of the battery compartment to the main control board 43. The battery level indicator is located on the control panel.

[0120] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for operating a lawn mowing robot, characterized in that: The positioning method includes a calculation method based on an RTK+inertial navigation system, specifically comprising the following steps: S1. Install the micro base station and determine the initial coordinates of the micro base station; S2. Sending the initial coordinates (x, y, z) of the micro base station and the real-time coordinates (x1, y1, z1) of the micro base station to the mobile station to provide the mobile station with the required comprehensive positioning error (Δx, Δy, Δz), Δx = x-x1, Δy = y-y1, Δz = z-z1; wherein the initial coordinates of the micro base station and the real-time coordinates of the micro base station are obtained through multiple satellite positioning; S3. Receive the signal sent from the micro base station through the vehicle-mounted RTK antenna. The vehicle-mounted RTK antenna simultaneously receives the same satellite signal and uses the equipped electronic handheld controller to perform real-time calculation and correction of the position information of the vehicle-mounted RTK antenna to obtain the deviation value. S4, calculating the deviation value in step S3 by the inertial navigation system; S5. Calculate the average error of the deviation value in step S4 to obtain the real-time dynamic position information of the device.

2. The working method of a lawn mowing robot according to claim 1, characterized in that: The method includes a route planning method, which is based on the accuracy of the positioning method and includes the following specific steps: S6. Install a charging pile, establish a rectangular coordinate system with the charging pile as the coordinate origin (0,0), and divide the lawn area into four quadrants; S7, map creation, setting the restricted area of ​​the mowing robot according to the actual boundary of the lawn, and obtaining a working map of the mowing robot; S8. Based on the coordinates of the actual lawn boundary in each quadrant determined in step S7 and the cutter disc diameter D1, determine the width L of each mowing motion of the mowing robot, where width L = D1 - B, where B is the mowing overlap size, which is determined based on the lawn density and grass variety. S9. When the robot mower is 100 mm away from the actual boundary of the lawn, it turns around and proceeds to the next row of lawns until the lawns in the entire map area are processed.

3. The operating method of the lawn mowing robot according to claim 2, characterized in that: Step S7: Mapping methods include point-based mapping and remote-control mapping. The specific method of point mapping is as follows: first measure the actual boundary of the lawn, set the position of the actual key points on the terminal APP, connect the actual key points to form a working map, and upload it to the terminal APP; Simulate the robot's movement on the terminal APP map to ensure that the key point positions on the terminal APP map are consistent with the actual key point positions; Click "Restricted Area Settings" on the terminal app. After determining the actual location of the restricted area, mark the corresponding location on the app map to circle the restricted area. After setting, confirm the map creation is complete. The specific method for remote mapping is as follows: through the terminal's mapping module, the remote-controlled lawn mower robot walks around the actual boundaries of the lawn. The lawn mower robot's position information during the walking process is uploaded to the control system in real time. The method for setting the restricted area position is the same as the method for setting the lawn boundary. Click the "Restricted Area Setting" function on the terminal app to remotely control the lawn mower robot to set the restricted area boundary.

4. The working method of a lawn mowing robot according to claim 1, characterized in that: The obstacle avoidance method includes an obstacle avoidance method using an ultrasonic sensor and a collision sensor for dual judgment, specifically including the following steps: S10. Set fences and objects outside the boundary and within the restricted area as non-obstructions; S11. When the lawn mower robot is working, the ultrasonic transmitter emits an ultrasonic signal in a certain direction. The timing starts at the moment of emission. The ultrasonic wave propagates through the air. If it encounters an obstacle during propagation, it will be reflected and propagated back immediately. The ultrasonic receiver stops timing immediately when it receives the reflected wave. S12. Calculate the distance (s) from the launch point to the obstacle using the formula: s = 340t / 2. When s < 20 cm, the robot's terminal software analyzes the obstacle. If it determines the obstacle is a leaf or a trampled object, the robot will directly move over it. If it determines the obstacle is an ordinary obstacle, the robot will turn around and continue mowing. When the robot returns to the location and cannot sense it, it will be considered as clear. S13. When the lawn mower robot mechanically collides with an object, the body anti-collision guard plate will trigger the sensor set on the lawn mower robot, and the device will directly determine that it is an obstacle and repeat the obstacle avoidance action in S12.

5. A lawn mowing robot, characterized in that: The working method according to any one of claims 1 to 4 is adopted, comprising a charging pile (1) and a robot body (2), wherein the charging pile (1) is used to charge the robot body (2); the robot body (2) comprises a body (21), a chassis (22), front wheels (23), rear wheels (24), an upper shell (25), a lower shell (26), and a cutter head (31) assembly, wherein the chassis (22) and the upper shell (25) are fixed by screws and a waterproof sealing strip is provided to seal and waterproof; A network card board (29) is provided at the front end of the chassis (22), and the network card board (29) is used to insert a network card. A card board cover for sealing the network card board (29) is provided at the lower part of the chassis (22), and a sealing strip for sealing and waterproofing is built into the card board cover. The front wheel (23) and the rear wheel (24) are respectively located on both sides of the chassis (22); the rear wheel (24) is a driving wheel, the front wheel (23) is a driven wheel, and the front wheel (23) can rotate 360 ​​degrees.

6. The lawn mowing robot according to claim 5, characterized in that: The cutterhead assembly includes a plurality of blades (32) mounted on a cutterhead (31). The rotation of the cutterhead (31) is driven by a cutterhead motor (33). The cutterhead (31) is provided with a protective cover (38). The cutterhead motor (33) is mounted on a cutterhead motor housing (36). The cutterhead motor housing (36) is connected to a cutterhead frame assembly (34). The cutterhead frame assembly (34) is raised and lowered in a vertical direction. The robot body (2) includes an adjustment portion (35), a toothed structure (37) is provided on the adjustment portion (35), and the toothed structure (37) is spirally arranged along the circumference of the adjustment portion (35). An adapter plate (54) is provided on the outside of the cutter disc motor housing (36), and the adapter plate is located on the toothed structure (37). The adapter plate (54) is engaged with the toothed structure (37), and the rotation of the toothed structure (37) drives the cutter disc frame group (34) to rise and fall as a whole.

7. The lawn mowing robot according to claim 6, characterized in that: The robot body (2) further includes a sensor system and an AI camera, wherein the sensor system includes a sensor 1 (39) provided at the front end of the vehicle body (21) for determining the distance; a sensor 2 (40) provided at the inner side of the bottom of the vehicle body (21), and when the vehicle body (21) collides with an obstacle, the sensor 2 (40) is used to provide feedback to the control system (42); and a sensor 3 (41) provided inside the front wheel (23), and when the front wheel (23) is lifted, the sensor 3 (41) is used to provide feedback to the control system (42). The front end of the vehicle body (21) is connected to an anti-collision guard plate through an elastic body, and a sensing device 1 is installed on the upper end of the anti-collision guard plate, and the sensing device 1 is used to sense a sensor 2 (40) provided at the bottom of the vehicle body (21); The control system (42) is integrated on a main control board (43), the main control board (43) is fixed on the chassis (22), and the main control board (43) is connected to a mobile phone APP via Bluetooth, WiFi or the Internet.

8. The lawn mowing robot according to claim 7, characterized in that: The upper shell (25) is provided with an emergency stop switch (45), which is a self-resetting emergency stop switch. The emergency stop switch (45) includes a button, one end of which is provided with a spring (46), the end of which is inserted into a positioning protrusion (50) on the upper shell (25), and the other end of which is provided with a second sensing device (49), which is used to sense a third sensor (41).

9. The lawn mowing robot according to claim 5, characterized in that: The charging pile (1) comprises a lower seat (12) and an upper seat (11) connected to the lower seat (12), wherein the lower seat (12) and the upper seat (11) are connected by a buckle or bolt connection, and the robot body (2) is located on the lower seat (12). A ground sensing line (52) is arranged on the lower seat (12) for judging whether the robot body (2) has reached the charging pile (1); The upper body (11) comprises an upper body frame (111) and an upper body cover (112) connected to the upper body frame (111); a LOGO breathing light (1121) is provided on the upper body cover (112); electrode sheets (1111) are respectively provided on both sides of the upper body frame (111); the electrode sheets (1111) are elastically arranged; when the robot body (2) enters the charging pile (1) for charging, the electrode sheets (1111) are pressed down; when the robot body (2) exits the charging pile (1), the electrode sheets (1111) are bounced up.

10. The lawn mowing robot according to claim 9, characterized in that: The lower seat (12) is provided with dot-shaped or strip-shaped anti-slip protrusions (121).

Images