CN110268858A - A kind of turf-mown and pattern modelling robot and its control system and control method - Google Patents
A kind of turf-mown and pattern modelling robot and its control system and control method Download PDFInfo
- Publication number
- CN110268858A CN110268858A CN201910715471.3A CN201910715471A CN110268858A CN 110268858 A CN110268858 A CN 110268858A CN 201910715471 A CN201910715471 A CN 201910715471A CN 110268858 A CN110268858 A CN 110268858A
- Authority
- CN
- China
- Prior art keywords
- motor
- steering
- master control
- control borad
- shaft
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/006—Control or measuring arrangements
- A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
- A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
- A01D34/64—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis mounted on a vehicle, e.g. a tractor, or drawn by an animal or a vehicle
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
- A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
- A01D34/74—Cutting-height adjustment
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
- A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
- A01D34/82—Other details
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D75/00—Accessories for harvesters or mowers
- A01D75/18—Safety devices for parts of the machines
- A01D75/185—Avoiding collisions with obstacles
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvester Elements (AREA)
Abstract
The present invention relates to turf-mown utensils, more particularly to a kind of turf-mown and pattern modelling robot and its control system and control method, including car body, walking mechanism, steering mechanism, pruning mechanism and wheel, the car body includes cover and pedestal, cover connects to form closed cavity with pedestal, portion outside the cover is arranged in wheel, walking mechanism is arranged in closed cavity, the transmission shaft of walking mechanism is through cover, it is driven axis connection wheel, steering mechanism is arranged in closed cavity, the connecting shaft of steering mechanism is through cover, connect axis connection wheel, pruning mechanism includes mowing motor, blade shaft and blade, mowing motor is connected in closed cavity, blade is arranged below pedestal, blade shaft runs through pedestal, blade axis connection mowing motor and blade, pass through steering mechanism, the mutually coordinated effect of walking mechanism and control system, it gets rid of traditional Manual operation mode passes through the mutually coordinated effect of pruning mechanism, elevating mechanism and control system, realizes the ability of pattern modelling.
Description
Technical field
The present invention relates to turf-mown utensils, and in particular to a kind of turf-mown and pattern modelling robot and its control system
System and control method.
Background technique
With the increasingly raising of people's living standard, requirement of the people to living environment is also higher and higher, afforests situation
As an emphasis concerned by people, therefore whether, the green coverages such as city, road, square, park, cell are constantly increasing
Add, and afforest also mainly based on lawn, lawn is not only that greening contributes, while can also be by turf-mown at specific figure
Case moulding allows it to have ornamental value.
Turf-mown and pattern modelling work have the following problems at present: the utensil to cut the grass on a lawn includes reaping hook, backpack
Hand-held grass trimmer and hand-push electrical weeder etc., wherein being mowed using reaping hook, not only large labor intensity, working efficiency are also
Lowly；Backpack holds grass trimmer and more saves labour with respect to reaping hook, but should not operate and control, the lawn pole for trimming out
Out-of-flatness, it is not beautiful enough；Hand-push electrical weeder guarantees trimming with respect to can effectively reduce labor intensity for first two utensil
Lawn flatness, but be based on manual operation, and its figure is larger, and it is also one that people, which pushes it and works on lawn,
No small burden；And pattern modelling must use above-mentioned tool, and need operator that must have certain operating technology
Level can undoubtedly promote the maintenance cost on lawn.
Summary of the invention
To overcome above-mentioned problems of the prior art, the object of the present invention is to provide a kind of turf-mowns and pattern to make
Humanoid robot and its control system and control method, the process that cuts the grass on a lawn are detached from manual operation, can not only be simple to lawn into
Row trimming, moreover it is possible to pattern modelling be carried out to lawn, solve problems of the prior art.
The technical scheme adopted by the invention is that: a kind of turf-mown and pattern modelling robot, including car body, vehicle with walking machine
Structure, steering mechanism, pruning mechanism and wheel, the car body include cover and pedestal, and cover connects to form closed cavity with pedestal, vehicle
Portion, walking mechanism are arranged in closed cavity outside the cover for wheel setting, and the transmission shaft of walking mechanism is driven axis connection vehicle through cover
Wheel, steering mechanism are arranged in closed cavity, and the connecting shaft of steering mechanism connects axis connection wheel, pruning mechanism packet through cover
Mowing motor, blade shaft and blade are included, mowing motor is connected in closed cavity, and blade is arranged below pedestal, and blade shaft passes through
Wear pedestal, blade axis connection mowing motor and blade.
Further comprise elevating mechanism, elevating mechanism is arranged in closed cavity, and elevating mechanism includes lifting motor, cunning
Block, lead screw, sliding rail, lifting support and bracket, lead screw, sliding rail and lifting support are vertically arranged, and lead screw both ends are connected by bearing
On lifting support, sliding rail is connected on lifting support, and lifting motor is connected to lead screw upper end, and sliding block is rotatably connected on lead screw
On, sliding block is slidably connected on the slide rail, and bracket is connected on sliding block, and mowing motor is connected on bracket, and elevating mechanism drive is cut
Careless mechanism moves up and down.
Walking mechanism described further is symmetrically arranged with 2, and walking mechanism further includes movable motor and motor shroud, row
It walks motor to be fixedly connected on pedestal, movable motor connects transmission shaft, and motor shroud wraps up movable motor.
Steering mechanism described further further includes steering motor, gear, tooth band, steering bracket, steering link and shaft,
Steering bracket is fixedly connected in shaft, and shaft is rotatably connected on pedestal, and the steering bracket and shaft are symmetrically arranged with 2
A, steering bracket is fixedly connected with connecting shaft, and steering link connects 2 steering brackets, and gear is equipped with 3, and gear is fixedly connected
In steering motor and shaft upper end, 3 gears of tooth band connection, steering motor is fixedly connected on pedestal.
Elevating mechanism described further is symmetrically arranged with 2.
Walking mechanism setting described further is in rear vehicle, and steering mechanism is arranged in Vehicular body front, and pruning mechanism is set
It sets between walking mechanism and steering mechanism.
Between steering mechanism and pruning mechanism described further be equipped with master control borad, master control borad be connected with motor driving plate,
Power supply and WiFi module, power supply and WiFi module are arranged in motor shroud, and motor driving plate connects movable motor, turns to electricity
Machine, mowing motor and lifting motor, master control borad are Arduino master board, and motor driving plate is L298N type motor driving plate,
Movable motor is MD60 DC speed-reducing, and steering motor is 42BYGH34 type stepper motor, and mowing motor is YS52-500A-
100 type direct current high-speed motors, lifting motor are 42BYGH34 type stepper motor, and power supply is 24V lithium battery, the model of WiFi module
For XRbot-Link5.
Car body front end described further is equipped with IR evading obstacle sensors and avoiding obstacles by supersonic wave sensor, and car body upper end is equipped with
Rainwater monitoring modular, human body induction module, switch and emergency stop switch, pedestal left end are equipped with single-shaft inclination angle sensor, pedestal lower end
It is the IR evading obstacle sensors, avoiding obstacles by supersonic wave sensor, single-shaft inclination angle sensor, infrared equipped with infrared distance sensor
Distance measuring sensor, rainwater monitoring modular, human body induction module, switch connect master control borad, the infrared obstacle avoidance with emergency stop switch
The model GP2Y0A21YK0F of sensor, the model ks103 of avoiding obstacles by supersonic wave sensor, the model of single-shaft inclination angle sensor
For mpu6050, the model GP2Y0A21YK0F of infrared distance sensor, the model TELESKY of rainwater monitoring modular, human body
The model HC-SR501 of induction module.
The control system of a kind of turf-mown and pattern modelling robot described further, switch and emergency stop switch control
Power supply gives master control borad power on/off；The data communication of WiFi module holding master control borad and mobile terminal；IR evading obstacle sensors, ultrasound
Wave obstacle avoidance sensor, single-shaft inclination angle sensor, infrared distance sensor, rainwater monitoring modular and human body induction module are by acquisition
For digital data transmission to master control borad, master control borad controls motor driving plate, and motor driving plate controls movable motor work；Infrared obstacle avoidance
Sensor, avoiding obstacles by supersonic wave sensor, single-shaft inclination angle sensor and human body induction module are by the digital data transmission of acquisition to master
Plate is controlled, master control borad controls motor driving plate, and motor driving plate controls steering motor work；Infrared distance sensor is by the number of acquisition
Word signal is transmitted to master control borad, and master control borad controls motor driving plate, and motor driving plate controls mowing motor and lifting motor work.
Further steps are as follows for the control method of a kind of turf-mown and pattern modelling robot:
A: prepare
Information to be cut the grass on a lawn is transmitted to master control borad, information includes shape, area etc. and regulation trimming starting point；
B: setting trim mode
B1: common trim mode, the height value after setting turf-mown, and height value is transmitted to master control borad；
B2: the design of pattern is generated 3-D graphic by mapping software, then passes through Slice Software by pattern modelling trim mode
3-D graphic is switched into G code, G code is imported into master control borad of the present invention；
C: the course of work
C1: the present invention is placed on the starting point set, is sensed by infrared distance measurement by the course of work under common trim mode
Device detects lawn actual height, and then master control borad control elevating mechanism adjusts the height of pruning mechanism and starts to trim work；
C2: the present invention is placed on the starting point set, is passed by infrared distance measurement by the course of work of pattern modelling trim mode
Sensor detects lawn actual height, and then master control borad control elevating mechanism adjusts the height of pruning mechanism and starts to trim work,
During traveling, according to the height data that G code is set, when encountering the height to cut the grass on a lawn and changing, master control borad control
Walking mechanism stops working, and after the height to specified position of elevating mechanism adjustment pruning mechanism, starting walking mechanism carries out again
Trim operation.
The beneficial effects of the present invention are: passing through the mutually coordinated effect of steering mechanism, walking mechanism and control system, realize
It is of the invention from walking function, get rid of traditional manual operation mode, realize full-automatic function, pass through pruning mechanism, elevator
The mutually coordinated effect of structure and control system is realized and is controlled when the present invention cuts the grass on a lawn careless length, realizes the energy of pattern modelling
Power cooperates various kinds of sensors and control system that the present invention is regulated and controled and manipulated in real time, guarantees the quality to cut the grass on a lawn, simultaneously
It is avoided that security risk.
Detailed description of the invention
Fig. 1 is outline structural diagram of the present invention；
Fig. 2 is schematic diagram of internal structure of the present invention；
Fig. 3 is steering mechanism's structural schematic diagram of the present invention；
Fig. 4 is grass-mowing and elevating mechanism structural schematic diagram of the present invention；
Fig. 5 is walking mechanism structural schematic diagram of the present invention；
Fig. 6 is bottom upward structural schematic diagram of the present invention；
Fig. 7 is control system schematic diagram of the present invention.
In figure: 1. car bodies, 101. covers, 102. pedestals, 2. walking mechanisms, 201. transmission shafts, 202. movable motors, 203. electricity
Machine shield, 3. steering mechanism, 301. connecting shafts, 302. steering motors, 303. gears, 304. tooth bands, 305. steering brackets, 306.
Steering link, 307. shafts, 4. pruning mechanisms, 401. mowing motors, 402. blade shafts, 403. blades, 5. wheels, 6. elevators
Structure, 601. lifting motors, 602. sliding blocks, 603. lead screws, 604. sliding rails, 605. lifting supports, 606. brackets, 7. master control borads, 8.
Power supply, 9.WiFi module, 10. motor driving plates, 11. IR evading obstacle sensors, 12. avoiding obstacles by supersonic wave sensors, 13. single shafts incline
Angle transducer, 14. infrared distance sensors, 15. rainwater monitoring modulars, 16. human induction switch, 17. switches, 18. emergency stops are opened
It closes.
Specific embodiment
The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments: a kind of turf-mown and pattern modelling
Robot, including car body 1, walking mechanism 2, steering mechanism 3, pruning mechanism 4 and wheel 5, the car body 1 include 101 Hes of cover
Pedestal 102, cover 101 and the connection of pedestal 102 form closed cavity, and wheel 5 is arranged outside cover 101, and walking mechanism 2 is arranged close
It closes in cavity, for the transmission shaft 201 of walking mechanism 2 through cover 101, transmission shaft 201 connects wheel 5, and steering mechanism 3 is arranged closed
In cavity, for the connecting shaft 301 of steering mechanism 3 through cover 101, connecting shaft 301 connects wheel 5, and pruning mechanism 4 includes mowing motor
401, blade shaft 402 and blade 403, mowing motor 401 are connected in closed cavity, and blade 403 is arranged below pedestal 102,
Blade shaft 402 runs through pedestal 102, and blade shaft 402 connects mowing motor 401 and blade 403, only wheel 5 and blade 403 are arranged
Outside car body 1, remaining components is all wrapped in car body 1, guarantees that the present invention at work will not enter the straw cord cut
The work that each mechanism is influenced in car body 1 is cooperated by the steering mechanism 3 of walking mechanism 2, is realized walking of the invention and is turned
To function, the present invention can be allowed more flexible when cutting the grass on a lawn and promote its passage capacity.
Further comprise elevating mechanism 6, elevating mechanism 6 is arranged in closed cavity, and elevating mechanism 6 includes lifting motor
601, sliding block 602, lead screw 603, sliding rail 604, lifting support 605 and bracket 606, lead screw 603, sliding rail 604 and lifting support 605
It is vertically arranged, 603 both ends of lead screw are connected on lifting support 605 by bearing, and sliding rail 604 is connected on lifting support 605, are risen
Drop motor 601 is connected to 603 upper end of lead screw, and sliding block 602 is rotatably connected on lead screw 603, and sliding block 602 is slidably connected at sliding rail
On 604, bracket 606 is connected on sliding block 602, and mowing motor 401 is connected on bracket 606, and elevating mechanism 6 drives grass-mowing
4 move up and down, and the purpose for increasing elevating mechanism 6 is to drive lead screw 603 to rotate by lifting motor 601, then make sliding block 602
It is slided up and down on sliding rail 604, then drives grass-mowing 4 to move up and down by bracket 606, realized to blade 403 apart from ground
The height adjustment in face, so that the control and adjusting of turf-mown size can be realized, by the different location to same lawn into
The trimming that row height does not wait, realizes pattern modelling function.
Walking mechanism 2 described further is symmetrically arranged with 2, and walking mechanism 2 further includes movable motor 202 and motor shield
Cover 203, movable motor 202 is fixedly connected on pedestal 102, and movable motor 202 connects transmission shaft 201, and motor shroud 203 is wrapped up
Movable motor 202 is symmetrical arranged 2 walking mechanisms, can effectively promote walking power of the invention, meanwhile, 2 movable motors
202 can realize that differential rotates, and auxiliary steering mechanism 3 is turned to, and can effectively reduce turning radius, is relatively beneficial to pattern and is made
Type function.
Steering mechanism 3 described further further includes steering motor 302, gear 303, tooth band 304, steering bracket 305, turns
To connecting rod 306 and shaft 307, steering bracket 305 is fixedly connected in shaft 307, and shaft 307 is rotatably connected on pedestal 102,
The steering bracket 305 and shaft 307 is symmetrically arranged with 2, and steering bracket 305 is fixedly connected with connecting shaft 301, steering link
306 2 steering brackets 305 of connection, gear 303 are equipped with 3, and gear 303 is fixedly connected in steering motor 302 and shaft 307
End, tooth band 304 connect 3 gears 303, and steering motor 302 is fixedly connected on pedestal 102, when steering, 302 band of steering motor
Dynamic 1 gear 303 rotates, and gear 303 is with movable tooth band 304, and tooth band 304 drives the rotation of other two gear 303, thus with turn
Axis 307 and steering bracket 305 rotate, and steering bracket 305 is realized by steering link 306 and rotated synchronously, to realize steering function
Energy.
Elevating mechanism 6 described further is symmetrically arranged with 2, is symmetrical arranged 2 elevating mechanisms, is on the one hand to protect
The operation stability for demonstrate,proving grass-mowing 4, it is steady, accurate when on the other hand can guarantee its up and down motion.
At 1 rear portion of car body, steering mechanism 3 is arranged in 1 front of car body, trimmer for the setting of walking mechanism 2 described further
Structure 4 is arranged between walking mechanism 2 and steering mechanism 3, and using rear power rear-guard, the mode of preposition steering is conducive to this hair
Bright walking function is stable, power is sufficient, stable direction, while pruning mechanism 4 being arranged in walking mechanism 2 and steering mechanism 3
Between certain defencive function is formed to blade 403, prevent it from contacting hard object Cao into breakage.
Master control borad 7 is equipped between steering mechanism 3 and pruning mechanism 4 described further, master control borad 7 is connected with motor driven
Plate 10, power supply 8 and WiFi module 9, power supply 8 and WiFi module 9 are arranged in motor shroud 203, the connection row of motor driving plate 10
Motor 202, steering motor 302, mowing motor 401 and lifting motor 601 are walked, master control borad 7 is Arduino master board, motor
Driving plate 10 is L298N type motor driving plate, and movable motor 202 is MD60 DC speed-reducing, and steering motor 302 is
42BYGH34 type stepper motor, mowing motor 401 are YS52-500A-100 type direct current high-speed motor, and lifting motor 601 is
42BYGH34 type stepper motor, power supply 8 are 24V lithium battery, and the model XRbot-Link5 of WiFi module 9, power supply 8 is this hair
Bright offer electric power output, realizes the electricity consumption of all mechanisms of the present invention, and master control borad 7 controls whole motors by motor driving plate 10,
Each mechanism of the present invention is allowed to realize each motor function, WiFi module 9 can realize that the data between mobile terminal and the present invention pass in real time
Defeated and monitoring.
1 front end of car body described further is equipped with IR evading obstacle sensors 11 and avoiding obstacles by supersonic wave sensor 12, on car body 1
End is equipped with rainwater monitoring modular 15, human body induction module 16, switch 17 and emergency stop switch 18, and 102 left end of pedestal is inclined equipped with single shaft
Angle transducer 13,102 lower end of pedestal are equipped with infrared distance sensor 14, the IR evading obstacle sensors 11, avoiding obstacles by supersonic wave
Sensor 12, single-shaft inclination angle sensor 13, infrared distance sensor 14, rainwater monitoring modular 15, human body induction module 16, switch
17 and emergency stop switch 18 connect master control borad 7, the model GP2Y0A21YK0F of the IR evading obstacle sensors 11, ultrasonic wave keeps away
Hinder the model ks103 of sensor 12, the model mpu6050 of single-shaft inclination angle sensor 13, the type of infrared distance sensor 14
Number be GP2Y0A21YK0F, the model TELESKY of rainwater monitoring modular 15, the model HC- of human body induction module 16
SR501 can effectively monitor the barrier in front of the present invention using IR evading obstacle sensors 11 and avoiding obstacles by supersonic wave sensor 12,
Using two different types of sensors, significantly more efficient can accurately monitor barrier, guarantee car body 1 and blade 403 not by
Damage, or other objects are caused to damage, single-shaft inclination angle sensor 13 can monitor vehicle body horizontality the moment, prevent hair of the present invention
Raw rollover, infrared distance sensor 14 can monitor the height of grass, to adjust the high low guaranteed turf-mown amount of blade 403, rain
Water monitoring module 15 plays weather monitoring function, avoids the present invention because bust rainwater is to short circuit caused by it etc., human body induction module
16 when playing work to the function of the person sensitive of surrounding, avoid the present invention from colliding with personnel and cause personal injury.
A kind of further control system of turf-mown and pattern modelling robot, control system cardinal principle of the invention
As follows: switch 17 and emergency stop switch 18 control power supply 8 to 7 power on/off of master control borad；WiFi module 9 keeps master control borad 7 and movement eventually
The data communication at end；IR evading obstacle sensors 11, avoiding obstacles by supersonic wave sensor 12, single-shaft inclination angle sensor 13, infrared distance measurement pass
Sensor 14, rainwater monitoring modular 15 and human body induction module 16 control the digital data transmission of acquisition to master control borad 7, master control borad 7
Motor driving plate 10 processed, motor driving plate 10 control movable motor 202 and work；IR evading obstacle sensors 11, avoiding obstacles by supersonic wave pass
Sensor 12, single-shaft inclination angle sensor 13 and human body induction module 16 are by the digital data transmission of acquisition to master control borad 7, master control borad 7
Motor driving plate 10 is controlled, motor driving plate 10 controls steering motor 302 and works；Infrared distance sensor 14 is by the number of acquisition
Signal is transmitted to master control borad 7, and master control borad 7 controls motor driving plate 10, and motor driving plate 10 controls mowing motor 401 and lifting electricity
Machine 601 works；
When whether IR evading obstacle sensors 11 and the detection traveling of avoiding obstacles by supersonic wave sensor 12 front have barrier, in case of that can not lead to
The object crossing barrier or contacting with blade 403 first directly stops the work of mowing motor, controls the present invention and actively keep away
Barrier, turns to the present invention, continues work after cut-through object；
Single-shaft inclination angle sensor 13 monitors vehicle body horizontality of the present invention in real time, if knockdown or rollover occur for car body, then
Stop whole motors immediately to stop working, after operator solves site problems, re-operates the present invention and work；
The height of infrared distance sensor 14 real-time monitoring present invention lower section grass, by the liter for determining blade 403 after data processing
Demotion is set, and real-time perfoming is adjusted, and guarantees the accurate drafting of turf-mown quality and pattern；
Such as prominent rainwater weather of meeting influences, and after rainwater monitoring modular 15 monitors rain, actively cuts off whole power supply circuits, avoids
Rainwater causes short circuit of the invention, and sends data to mobile terminal by wifi module 9, and operator is reminded to deal carefully with；
Human body induction module 16 actively closes movable motor 202 and electricity of mowing when detecting front someone or having personnel to pass through
Machine 401 continues work after personnel after.
Steps are as follows for the control method of a kind of turf-mown and pattern modelling robot:
A: prepare
Information to be cut the grass on a lawn is transmitted to master control borad 7, information includes shape, area etc. and regulation trimming starting point；
B: setting trim mode
B1: common trim mode, the height value after setting turf-mown, and height value is transmitted to master control borad 7；
B2: pattern modelling trim mode, the design of pattern is raw by mapping software (such as CAD, solidworks, 3DMax)
At 3-D graphic, 3-D graphic is then switched to by G code by slice (such as cura, xbuilder) software, by G code
Import master control borad 7 of the present invention；
C: the course of work
C1: the present invention is placed on the starting point set, is sensed by infrared distance measurement by the course of work under common trim mode
Device 14 detects lawn actual height, and then master control borad 7 controls elevating mechanism 6 and adjusts the height of pruning mechanism 4 and start to trim work
Make；
C2: the present invention is placed on the starting point set, is passed by infrared distance measurement by the course of work of pattern modelling trim mode
Sensor 14 detects lawn actual height, and then master control borad 7 controls elevating mechanism 6 and adjusts the height of pruning mechanism 4 and start to trim
Work, during traveling, according to the height data that G code is set, when encountering the height to cut the grass on a lawn and changing, master control borad
7 control walking mechanisms 2 stop working, and after elevating mechanism 6 adjusts the height to specified position of pruning mechanism 4, start vehicle with walking machine
Structure 2 carries out trimming operation again.
Claims (10)
1. a kind of turf-mown and pattern modelling robot, it is characterised in that: including car body (1), walking mechanism (2), turning machine
Structure (3), pruning mechanism (4) and wheel (5), the car body (1) include cover (101) and pedestal (102), cover (101) and pedestal
(102) connection forms closed cavity, and wheel (5) setting is external in cover (101), and walking mechanism (2) is arranged in closed cavity, row
The transmission shaft (201) of mechanism (2) is walked through cover (101), transmission shaft (201) connects wheel (5), and steering mechanism (3) is arranged close
It closes in cavity, the connecting shaft (301) of steering mechanism (3) is through cover (101), and connecting shaft (301) connects wheel (5), pruning mechanism
It (4) include mowing motor (401), blade shaft (402) and blade (403), mowing motor (401) is connected in closed cavity, knife
Below pedestal (102), blade shaft (402) runs through pedestal (102) for piece (403) setting, and blade shaft (402) connects mowing motor
(401) and blade (403).
2. a kind of turf-mown according to claim 1 and pattern modelling robot, it is characterised in that: further include elevator
Structure (6), elevating mechanism (6) are arranged in closed cavity, and elevating mechanism (6) includes lifting motor (601), sliding block (602), lead screw
(603), sliding rail (604), lifting support (605) and bracket (606), lead screw (603), sliding rail (604) and lifting support (605) are perpendicular
Straight setting, lead screw (603) both ends are connected on lifting support (605) by bearing, and sliding rail (604) is connected to lifting support
(605) on, lifting motor (601) is connected to lead screw (603) upper end, and sliding block (602) is rotatably connected on lead screw (603), sliding block
(602) it is slidably connected on sliding rail (604), bracket (606) is connected on sliding block (602), and mowing motor (401) is connected to bracket
(606) on, elevating mechanism (6) drives grass-mowing (4) to move up and down.
3. a kind of turf-mown according to claim 1 and pattern modelling robot, it is characterised in that: the vehicle with walking machine
Structure (2) is symmetrically arranged with 2, and walking mechanism (2) further includes movable motor (202) and motor shroud (203), movable motor
(202) it is fixedly connected on pedestal (102), movable motor (202) connects transmission shaft (201), motor shroud (203) package walking
Motor (202).
4. a kind of turf-mown according to claim 1 and pattern modelling robot, it is characterised in that: the turning machine
Structure (3) further includes steering motor (302), gear (303), tooth band (304), steering bracket (305), steering link (306) and turns
Axis (307), steering bracket (305) are fixedly connected on shaft (307), and shaft (307) is rotatably connected on pedestal (102), institute
The steering bracket (305) and shaft (307) stated are symmetrically arranged with 2, and steering bracket (305) is fixedly connected with connecting shaft (301), turn
2 steering brackets (305) are connected to connecting rod (306), gear (303) is equipped with 3, and gear (303) is fixedly connected on steering motor
(302) and shaft (307) upper end, tooth band (304) connect 3 gears (303), and steering motor (302) is fixedly connected on pedestal
(102) on.
5. a kind of turf-mown according to claim 2 and pattern modelling robot, it is characterised in that: the elevator
Structure (6) is symmetrically arranged with 2.
6. a kind of turf-mown according to claim 1-5 and pattern modelling robot, it is characterised in that: described
Walking mechanism (2) setting at car body (1) rear portion, steering mechanism (3) setting exists in car body (1) front, pruning mechanism (4) setting
Between walking mechanism (2) and steering mechanism (3).
7. a kind of turf-mown according to claim 6 and pattern modelling robot, it is characterised in that: the turning machine
Between structure (3) and pruning mechanism (4) be equipped with master control borad (7), master control borad (7) be connected with motor driving plate (10), power supply (8) and
WiFi module (9), power supply (8) and WiFi module (9) are arranged on motor shroud (203), motor driving plate (10) connection walking
Motor (202), steering motor (302), mowing motor (401) and lifting motor (601), master control borad (7) are Arduino main control
Plate, motor driving plate (10) are L298N type motor driving plate, and movable motor (202) is MD60 DC speed-reducing, steering motor
It (302) is 42BYGH34 type stepper motor, mowing motor (401) is YS52-500A-100 type direct current high-speed motor, lifting motor
It (601) is 42BYGH34 type stepper motor, power supply (8) is 24V lithium battery, the model XRbot-Link5 of WiFi module (9).
8. a kind of turf-mown according to claim 7 and pattern modelling robot, it is characterised in that: the car body
(1) front end is equipped with IR evading obstacle sensors (11) and avoiding obstacles by supersonic wave sensor (12), and car body (1) upper end is equipped with rainwater and monitors mould
Block (15), human body induction module (16), switch (17) and emergency stop switch (18), pedestal (102) left end are equipped with uniaxial inclination angle sensing
Device (13), pedestal (102) lower end are equipped with infrared distance sensor (14), and the IR evading obstacle sensors (11), ultrasonic wave are kept away
Hinder sensor (12), single-shaft inclination angle sensor (13), infrared distance sensor (14), rainwater monitoring modular (15), human body sensing
Module (16), switch (17) and emergency stop switch (18) connection master control borad (7), the model of the IR evading obstacle sensors (11)
GP2Y0A21YK0F, the model ks103 of avoiding obstacles by supersonic wave sensor (12), the model of single-shaft inclination angle sensor (13)
Mpu6050, the model GP2Y0A21YK0F of infrared distance sensor (14), the model of rainwater monitoring modular (15)
TELESKY, the model HC-SR501 of human body induction module (16).
9. the control system of a kind of turf-mown and pattern modelling robot according to claim 8, it is characterised in that: open
(17) and emergency stop switch (18) control power supply (8) are closed to master control borad (7) power on/off；WiFi module (9) keeps master control borad (7) and moves
The data communication of dynamic terminal；IR evading obstacle sensors (11), avoiding obstacles by supersonic wave sensor (12), single-shaft inclination angle sensor (13),
Infrared distance sensor (14), rainwater monitoring modular (15) and human body induction module (16) are by the digital data transmission of acquisition to master
It controls plate (7), master control borad (7) controls motor driving plate (10), and motor driving plate (10) controls movable motor (202) work；It is infrared
Obstacle avoidance sensor (11), avoiding obstacles by supersonic wave sensor (12), single-shaft inclination angle sensor (13) and human body induction module (16) will be adopted
The digital data transmission of collection to master control borad (7), master control borad (7) controls motor driving plate (10), and motor driving plate (10) control turns
It works to motor (302)；Infrared distance sensor (14) controls the digital data transmission of acquisition to master control borad (7), master control borad (7)
Motor driving plate (10) processed, motor driving plate (10) control mowing motor (401) and lifting motor (601) work.
10. the control method of a kind of turf-mown and pattern modelling robot according to claim 9, it is characterised in that such as
Lower step:
A: prepare
Information to be cut the grass on a lawn is transmitted to master control borad (7), information includes shape, area etc. and regulation trimming starting point；
B: setting trim mode
B1: common trim mode, the height value after setting turf-mown, and height value is transmitted to master control borad (7)；
B2: the design of pattern is generated 3-D graphic by mapping software, then passes through Slice Software by pattern modelling trim mode
3-D graphic is switched into G code, G code is imported into master control borad (7) of the present invention；
C: the course of work
C1: the present invention is placed on the starting point set, is sensed by infrared distance measurement by the course of work under common trim mode
Device (14) detects lawn actual height, and then master control borad (7) control elevating mechanism (6) adjusts the height of pruning mechanism (4) and opens
Begin to trim work；
C2: the present invention is placed on the starting point set, is passed by infrared distance measurement by the course of work of pattern modelling trim mode
Sensor (14) detects lawn actual height, and then master control borad (7) control elevating mechanism (6) adjusts the height of pruning mechanism (4) simultaneously
Start to trim work, during traveling, according to the height data that G code is set, encounters the height to cut the grass on a lawn and change
When, master control borad (7) control walking mechanism (2) stops working, and the height to elevating mechanism (6) adjustment pruning mechanism (4) extremely provides
Behind position, starting walking mechanism (2) carries out trimming operation again.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910715471.3A CN110268858A (en) | 2019-08-05 | 2019-08-05 | A kind of turf-mown and pattern modelling robot and its control system and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910715471.3A CN110268858A (en) | 2019-08-05 | 2019-08-05 | A kind of turf-mown and pattern modelling robot and its control system and control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110268858A true CN110268858A (en) | 2019-09-24 |
Family
ID=67966146
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910715471.3A Pending CN110268858A (en) | 2019-08-05 | 2019-08-05 | A kind of turf-mown and pattern modelling robot and its control system and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110268858A (en) |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110915409A (en) * | 2019-11-15 | 2020-03-27 | 江苏若博机器人科技有限公司 | Single-core four-wheel drive mowing robot and control method thereof |
| CN111684911A (en) * | 2020-05-11 | 2020-09-22 | 深圳拓邦股份有限公司 | Control method and device of mowing vehicle, mowing vehicle and storage medium |
| CN111903313A (en) * | 2020-07-10 | 2020-11-10 | 梅里科技(广州)有限公司 | Intelligent mower and control method thereof |
| CN111953930A (en) * | 2020-06-19 | 2020-11-17 | 窦崧 | Movable road monitoring equipment |
| CN112544206A (en) * | 2020-11-27 | 2021-03-26 | 江苏科技大学 | Height adjusting system and method for cutter head of hand-push type mower |
| CN112567960A (en) * | 2020-12-02 | 2021-03-30 | 衢州学院 | Intelligent weeding robot |
| CN113068503A (en) * | 2021-03-22 | 2021-07-06 | 苏州大学 | Mowing equipment |
| CN113115624A (en) * | 2019-12-31 | 2021-07-16 | 南京德朔实业有限公司 | Riding type mower |
| CN113439526A (en) * | 2021-07-27 | 2021-09-28 | 福建省晋江市三力机车有限公司 | Full-automatic gardens lawn trimmer and have trimming system of lawn trimmer |
| CN113498665A (en) * | 2021-06-21 | 2021-10-15 | 深圳拓邦股份有限公司 | Lawn modeling method, lawn modeling apparatus, lawn mower, and computer-readable storage medium |
| CN113575093A (en) * | 2021-08-23 | 2021-11-02 | 清华大学天津高端装备研究院洛阳先进制造产业研发基地 | Mowing robot |
| CN114223382A (en) * | 2021-12-30 | 2022-03-25 | 丁建国 | Vegetable planting weeding equipment |
| SE2051175A1 (en) * | 2020-10-08 | 2022-04-09 | Husqvarna Ab | Height adjustment device and robotic lawnmower comprising an height adjustment device |
| SE2051332A1 (en) * | 2020-11-13 | 2022-05-14 | Husqvarna Ab | Robotic work tool and method for running a robotic work tool |
| CN114667844A (en) * | 2022-04-06 | 2022-06-28 | 马金荣 | Automatic data acquisition system for environmental monitoring based on block chain |
| TWI770958B (en) * | 2021-04-26 | 2022-07-11 | 國立勤益科技大學 | Unmanned mower |
| CN115997623A (en) * | 2023-01-20 | 2023-04-25 | 深圳广信建设(集团)有限公司 | Waterproof landscape garden vegetation transplanting equipment for building decoration |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2224113Y (en) * | 1995-05-11 | 1996-04-10 | 李宽庆 | Full-function controllable electric vehicle |
| CN101091428A (en) * | 2006-10-20 | 2007-12-26 | 大连理工大学 | Automatic mowing robot |
| CN103481956A (en) * | 2013-09-29 | 2014-01-01 | 中国地质大学（武汉） | Walking mechanism of sampling robot |
| EP2926642A1 (en) * | 2012-11-29 | 2015-10-07 | Toshio Fukuda | Autonomous-travel work system |
| CN206118418U (en) * | 2016-10-28 | 2017-04-26 | 洛阳理工学院 | Intelligent mower |
| CN106612881A (en) * | 2016-09-21 | 2017-05-10 | 河海大学常州校区 | Intelligent drawing mowing robot |
| CN108174674A (en) * | 2017-12-15 | 2018-06-19 | 宁波大叶园林设备股份有限公司 | Tool encloses the intelligent gardens working machine of walking route charge control in boundary's conducting wire with lawn |
| CN108476716A (en) * | 2018-05-08 | 2018-09-04 | 严沁 | A kind of cart type grass trimmer |
| CN109362331A (en) * | 2018-12-19 | 2019-02-22 | 江西洪都航空工业集团有限责任公司 | Unmanned grass-cutting vehicle |
| CN109937677A (en) * | 2016-06-30 | 2019-06-28 | 创科（澳门离岸商业服务）有限公司 | A kind of autonomous type grass trimmer and its navigation system |
-
2019
- 2019-08-05 CN CN201910715471.3A patent/CN110268858A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2224113Y (en) * | 1995-05-11 | 1996-04-10 | 李宽庆 | Full-function controllable electric vehicle |
| CN101091428A (en) * | 2006-10-20 | 2007-12-26 | 大连理工大学 | Automatic mowing robot |
| EP2926642A1 (en) * | 2012-11-29 | 2015-10-07 | Toshio Fukuda | Autonomous-travel work system |
| CN103481956A (en) * | 2013-09-29 | 2014-01-01 | 中国地质大学（武汉） | Walking mechanism of sampling robot |
| CN109937677A (en) * | 2016-06-30 | 2019-06-28 | 创科（澳门离岸商业服务）有限公司 | A kind of autonomous type grass trimmer and its navigation system |
| CN106612881A (en) * | 2016-09-21 | 2017-05-10 | 河海大学常州校区 | Intelligent drawing mowing robot |
| CN206118418U (en) * | 2016-10-28 | 2017-04-26 | 洛阳理工学院 | Intelligent mower |
| CN108174674A (en) * | 2017-12-15 | 2018-06-19 | 宁波大叶园林设备股份有限公司 | Tool encloses the intelligent gardens working machine of walking route charge control in boundary's conducting wire with lawn |
| CN108476716A (en) * | 2018-05-08 | 2018-09-04 | 严沁 | A kind of cart type grass trimmer |
| CN109362331A (en) * | 2018-12-19 | 2019-02-22 | 江西洪都航空工业集团有限责任公司 | Unmanned grass-cutting vehicle |
Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110915409A (en) * | 2019-11-15 | 2020-03-27 | 江苏若博机器人科技有限公司 | Single-core four-wheel drive mowing robot and control method thereof |
| CN113115624A (en) * | 2019-12-31 | 2021-07-16 | 南京德朔实业有限公司 | Riding type mower |
| CN111684911A (en) * | 2020-05-11 | 2020-09-22 | 深圳拓邦股份有限公司 | Control method and device of mowing vehicle, mowing vehicle and storage medium |
| CN111684911B (en) * | 2020-05-11 | 2021-12-28 | 深圳拓邦股份有限公司 | Control method and device of mowing vehicle, mowing vehicle and storage medium |
| CN111953930A (en) * | 2020-06-19 | 2020-11-17 | 窦崧 | Movable road monitoring equipment |
| CN111903313A (en) * | 2020-07-10 | 2020-11-10 | 梅里科技(广州)有限公司 | Intelligent mower and control method thereof |
| SE545203C2 (en) * | 2020-10-08 | 2023-05-16 | Husqvarna Ab | Height adjustment device in a robotic mower and a robotic mower comprising a height adjustmend device |
| SE2051175A1 (en) * | 2020-10-08 | 2022-04-09 | Husqvarna Ab | Height adjustment device and robotic lawnmower comprising an height adjustment device |
| SE545627C2 (en) * | 2020-11-13 | 2023-11-14 | Husqvarna Ab | Robotic work tool and method for running a robotic work tool |
| SE2051332A1 (en) * | 2020-11-13 | 2022-05-14 | Husqvarna Ab | Robotic work tool and method for running a robotic work tool |
| CN112544206B (en) * | 2020-11-27 | 2022-01-28 | 江苏科技大学 | Height adjusting system and method for cutter head of hand-push type mower |
| CN112544206A (en) * | 2020-11-27 | 2021-03-26 | 江苏科技大学 | Height adjusting system and method for cutter head of hand-push type mower |
| CN112567960A (en) * | 2020-12-02 | 2021-03-30 | 衢州学院 | Intelligent weeding robot |
| CN113068503A (en) * | 2021-03-22 | 2021-07-06 | 苏州大学 | Mowing equipment |
| TWI770958B (en) * | 2021-04-26 | 2022-07-11 | 國立勤益科技大學 | Unmanned mower |
| CN113498665A (en) * | 2021-06-21 | 2021-10-15 | 深圳拓邦股份有限公司 | Lawn modeling method, lawn modeling apparatus, lawn mower, and computer-readable storage medium |
| CN113439526A (en) * | 2021-07-27 | 2021-09-28 | 福建省晋江市三力机车有限公司 | Full-automatic gardens lawn trimmer and have trimming system of lawn trimmer |
| CN113575093A (en) * | 2021-08-23 | 2021-11-02 | 清华大学天津高端装备研究院洛阳先进制造产业研发基地 | Mowing robot |
| CN114223382A (en) * | 2021-12-30 | 2022-03-25 | 丁建国 | Vegetable planting weeding equipment |
| CN114223382B (en) * | 2021-12-30 | 2023-03-10 | 丁建国 | Vegetable planting weeding equipment |
| CN114667844A (en) * | 2022-04-06 | 2022-06-28 | 马金荣 | Automatic data acquisition system for environmental monitoring based on block chain |
| CN115997623A (en) * | 2023-01-20 | 2023-04-25 | 深圳广信建设(集团)有限公司 | Waterproof landscape garden vegetation transplanting equipment for building decoration |
| CN115997623B (en) * | 2023-01-20 | 2024-04-05 | 深圳广信建设(集团)有限公司 | Waterproof landscape garden vegetation transplanting equipment for building decoration |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110268858A (en) | A kind of turf-mown and pattern modelling robot and its control system and control method | |
| CN102870608B (en) | Five-degree of freedom green fence pruning machine | |
| CN100515695C (en) | Intelligent grass-removing robot | |
| CN110149941A (en) | A kind of highway greenbelt trimming machine cuts people | |
| CN112544206B (en) | Height adjusting system and method for cutter head of hand-push type mower | |
| CN207011273U (en) | A kind of orchard weeder for being easy to adjust cutter direction | |
| CN109005993B (en) | Operation method of automatic trimming device for trimming garden shrubs | |
| CN211606647U (en) | System for evaluating condition and growth of tree | |
| CN207340603U (en) | A kind of hedgeclipper suitable for multi-faceted adjusting | |
| CN106068887A (en) | Reciprocating lawn mower | |
| CN106342469A (en) | Intelligent grass cutter | |
| CN200959731Y (en) | Mower | |
| CN107347470A (en) | A kind of Omni-mobile pruning fruit tree car | |
| CN110405785A (en) | Six axis trimming machine cuts people of one kind and working method | |
| CN114424703A (en) | New forms of energy robot of mowing | |
| CN109041866A (en) | A kind of greenbelt clipping device | |
| CN206118418U (en) | Intelligent mower | |
| CN105981522A (en) | Novel lawn trimmer | |
| CN109227517A (en) | Mechanical exoskeleton formula hedge trimming machine people | |
| CN109566138A (en) | A kind of intelligence greening pruner robot | |
| CN214228922U (en) | Remote control adjustment system for ground clearance of mower cutting unit and remote control mower | |
| CN211073606U (en) | Robot for monitoring farmland environment information | |
| CN218851333U (en) | Remote control type trimming device | |
| CN207185319U (en) | One kind automation hedge-trimming cart | |
| CN221306574U (en) | Integrated trimmer suitable for hedge |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190924 |
|
| RJ01 | Rejection of invention patent application after publication |