CN118120439A - Intelligent mower - Google Patents

Abstract

The invention discloses an intelligent mower, which adopts an intelligent mower body and a control system, wherein the intelligent mower body comprises an operation carrier chassis and an operation tool, the operation carrier chassis comprises a steering engine support frame, a completely central symmetrical frame, a headlight support frame, a front fork belt bowl group, a spring double shock absorber, a Hall type direct current brushless hub gear motor and wheels, a pair of spring double shock absorbers are sleeved on the front fork belt bowl group, the other end of the front fork belt bowl group is fixedly connected with the completely central symmetrical frame, a headlight support frame and a steering engine lower support plate are arranged on the steering engine support frame, and the headlight support frame is fixedly connected with the steering engine support frame. The mower provided by the invention adopts a lightweight design, realizes omnidirectional movement, improves the adaptability and movement flexibility of equipment on complex terrains, and realizes two mowing modes of a belly type and a side type, so that mowing is efficient, dead angles are avoided, and roots are tidy and not damaged.

Description

Intelligent mower

Technical Field

The invention relates to the technical field of modern agriculture intelligent equipment, and particularly discloses an intelligent mower.

Background

The intelligent mower is a mechanical tool for trimming lawns, vegetation and the like, and consists of a cutter disc, an engine, travelling wheels, a travelling mechanism, blades, handrails and a control part, wherein the cutter disc is arranged on the travelling wheels, the engine is arranged on the cutter disc, the blades are arranged on an output shaft of the engine, and the blades realize transverse cutting and mowing by utilizing high-speed rotation of the engine, so that the working time of weeding workers is saved, and a large amount of manpower resources are reduced.

The terrain adaptability and the steering flexibility of the existing intelligent mower are poor, and the mode of cutter disc belly fixed mounting is adopted mostly, so that dead angles exist when the intelligent mower mows, secondary mowing treatment is needed to be carried out manually after mowing is finished, vegetation and soil structures are damaged easily, and mowing effect is affected. Therefore, there is a need to design a smart mower.

Disclosure of Invention

The present invention provides an intelligent mower that aims to address at least one of the above-mentioned drawbacks.

The invention relates to an intelligent mower, which comprises an intelligent mower body and a control system connected with the intelligent mower body, wherein the intelligent mower body comprises an operation carrier chassis and an operation tool arranged on the operation carrier chassis, the operation carrier chassis comprises a steering engine support frame, four headlight support frames extending along the circumferential direction of the steering engine support frame, a front fork bowl group correspondingly arranged below the headlight support frame, a front fork bowl group arranged below the front fork bowl group, a spring double shock absorber and a driving motor respectively arranged on the front fork bowl group, the driving motor is a driving motor for driving wheels to rotate, wheels sleeved on the driving motor for driving the wheels to rotate, a first synchronous wheel is sleeved on the front fork bowl group, the front fork bowl group is fixedly connected with a completely central symmetrical frame, the steering engine support frame is provided with a steering engine and a steering engine lower support plate, the steering engine lower support plate is provided with a second synchronous wheel, a first tension wheel and a second tension wheel, the second synchronous wheel is sleeved on a main shaft of the steering engine, the first synchronous wheel is respectively connected with the second synchronous wheel, the first tension wheel and the second tension wheel through synchronous belts, the control system comprises a steering engine driver and a driving motor driver for driving wheels to rotate, the steering engine driver is connected with the steering engine, and the driving motor driver for driving the wheels to rotate is connected with a driving motor for driving wheels to rotate, so that the switching of a rear wheel single Ackerman steering mode, a front wheel single Ackerman steering mode, a double Ackerman steering mode, a straight running mode, a spinning mode, an oblique moving mode, a transverse moving mode or a parking mode is realized.

Further, the operation tool comprises a vertical lifting mechanism, a reciprocating mechanism and a mowing knife mechanism, one end of the reciprocating mechanism is connected with the vertical lifting mechanism, and the other end of the reciprocating mechanism is connected with the mowing knife mechanism.

Further, the vertical lifting mechanism comprises an upper connecting plate, a lower connecting plate, a telescopic driving piece, a supporting rod, an upper U-shaped groove, a lower U-shaped groove, a first lifting supporting component and a second lifting supporting component, one end of the telescopic driving piece is connected with the lower connecting plate through the first lifting supporting component, and the other end of the telescopic driving piece is connected with the upper connecting plate through the second lifting supporting component; one end of the supporting rod is connected with the upper connecting plate through an upper U-shaped groove, and the other end of the supporting rod is connected with the lower connecting plate through a lower U-shaped groove.

Further, the reciprocating mechanism comprises a screw rod, a guide rod, a first guide rod supporting piece, a second guide rod supporting piece and a sliding table mechanism, wherein the screw rod and the guide rod respectively penetrate through the sliding table mechanism, and two ends of the screw rod and the guide rod are respectively supported on the first guide rod supporting piece and the second guide rod supporting piece.

Further, the sliding table mechanism comprises a stepping motor, a stepping motor support piece and a flange linear bearing, wherein the stepping motor and the flange linear bearing are respectively supported on the stepping motor support piece, the control system further comprises a stepping motor driver, and the stepping motor driver is connected with the stepping motor.

Further, the mowing knife mechanism comprises a mowing motor and a mowing knife connected with a main shaft of the mowing motor, the control system further comprises a mowing motor driver, and the mowing motor driver is connected with the mowing motor.

Further, the control system also comprises a sensor acquisition device, wherein the sensor acquisition device comprises an external sensor acquisition device and an internal sensor acquisition device, and the external sensor acquisition device comprises a tracking sensor module, a binocular vision sensor module, an ultrasonic sensor module and a laser radar sensor module. The internal sensor acquisition device comprises a nine-axis attitude sensor module, a power detection module and an inductive switch sensor.

Further, the control system also comprises a main controller device, and the main controller is respectively connected with the tracking sensor module, the nine-axis gesture sensor module, the binocular vision sensor module, the ultrasonic sensor module, the laser radar sensor module, the power detection module and the inductive switch sensor.

Further, the control system also comprises a driving module, and the main controller is respectively connected with the steering engine driver, the driving motor driver for driving the wheels to rotate and the stepping motor driver.

Further, the control system also comprises a man-machine interaction device, wherein the man-machine interaction device comprises a wireless transceiver module, a display module, an Internet of things module and a voice module, and the main controller is respectively connected with the display module, the Internet of things module and the voice module.

Further, the control system also comprises an alarm device, the alarm device comprises an alarm lamp and a steering lamp, and the main controller is respectively connected with the alarm lamp and the steering lamp.

The beneficial effects obtained by the invention are as follows:

The invention provides an intelligent mower, which adopts an intelligent mower body and a control system matched with the intelligent mower body for use, wherein the intelligent mower body comprises an operation carrier chassis and an operation tool arranged on the operation carrier chassis, the operation carrier chassis comprises a steering engine support frame, four headlight support frames extending along the circumferential direction of the steering engine support frame, a front fork bowl group correspondingly arranged below the headlight support frame, a front fork bowl group arranged below the front fork bowl group, a spring double shock absorber and a driving motor respectively arranged on the front fork bowl group, the driving motor is a driving motor for driving wheels to rotate, and wheels sleeved on the driving motor for driving the wheels to rotate, the front fork bowl group is sleeved with a first synchronous wheel, the steering engine support frame is provided with a headlight support frame and a steering engine lower support plate, and the headlight support frame is fixedly connected with the steering engine support frame. The steering engine lower support plate is provided with a second synchronous wheel, a first tensioning wheel and a second tensioning wheel, the second synchronous wheel is sleeved on a main shaft of the steering engine, the first synchronous wheel is connected with the second synchronous wheel, the first tensioning wheel and the second tensioning wheel through synchronous belts, the control system comprises a steering engine driver and a driving motor driver for driving the wheels to rotate, the steering engine driver is connected with the steering engine, and the driving motor driver for driving the wheels to rotate is connected with a driving motor for driving the wheels to rotate. The intelligent mower provided by the invention adopts an operation carrier chassis: the full central symmetry type light-weight design is adopted, the omni-directional movement is realized through a unique suspension system and a driving motor for driving the wheels to rotate in a direct current brushless manner, the adaptability and steering flexibility of the device on complex terrains are improved, two mowing modes of a belly type and a side type are realized, and mowing is efficient, dead angles are avoided, and roots are not damaged in order; an intelligent control device is adopted: by carrying the sensor, the Internet of things and the artificial intelligence technology, the mower realizes functions of autonomous navigation, path planning, fault diagnosis and the like, and improves the intelligent level of equipment; adopts a mowing knife mechanism: by optimizing the design and materials of the cutting device, the cutting efficiency and effect are improved, and meanwhile, the energy consumption is reduced; the environment-friendly power device and the noise reduction device are adopted, and the environment-friendly power system and the noise reduction measures are adopted, so that the pollution of waste gas and noise in the operation process of the mower is reduced, and the environment-friendly performance of the device is improved.

Drawings

FIG. 1 is a schematic diagram of an entire vehicle of an intelligent mower of the present invention;

FIG. 2 is a schematic diagram of eight modes of operation of an intelligent mower of the present invention;

FIG. 3 is a schematic view of a chassis of a work vehicle in an intelligent mower of the present invention;

FIG. 4 is a schematic view of a travel mechanism for a work vehicle in an intelligent mower in accordance with the present invention;

FIG. 5 is a schematic diagram of a work implement in an intelligent mower in accordance with the present invention;

FIG. 6 is a schematic diagram of a slipway mechanism in an intelligent mower of the present invention;

FIG. 7 is a schematic view of a vertical lift mechanism in an intelligent mower in accordance with the present invention;

FIG. 8 is a schematic view of a fully symmetrical frame in an intelligent mower in accordance with the present invention;

FIG. 9 is a functional block diagram of a control system in an intelligent mower of the present invention;

FIG. 10 is a schematic diagram illustrating the control principle of a work vehicle travel mechanism in an intelligent mower of the present invention;

FIG. 11 is a schematic diagram of the control principle of a vertical lift mechanism in an intelligent mower of the present invention;

FIG. 12 is a schematic diagram of the control principle of the reciprocating mechanism in the intelligent mower of the present invention;

FIG. 13 is a schematic diagram of the control principle of a mower blade mechanism in an intelligent mower of the present invention;

Fig. 14 is a schematic diagram illustrating a control principle of a steering mechanism of a working vehicle in an intelligent mower according to the present invention.

Reference numerals illustrate:

10. A work carrier chassis; 20. a work implement; 30. a fully centrosymmetric frame; 11. steering engine support frame; 12. a headlight support frame; 13. a front fork with a bowl group; 15. spring double shock absorber; 16. a driving motor; 17. a wheel; 112. a steering engine lower support plate; 131. a first synchronizing wheel; 1111. steering engine; 1121. a second synchronizing wheel; 1122. the first tensioning wheel; 1123. the second tensioning wheel; 1124. a synchronous belt; 21. a vertical lifting mechanism; 22. a reciprocating mechanism; 23. a grass cutter mechanism; 211. an upper connecting plate; 212. a lower connecting plate; 213. a telescopic driving member; 214. a support rod; 215. a U-shaped groove is arranged on the upper part; 216. a lower U-shaped groove; 217. a first lifting support assembly; 218. a second lifting support assembly; 221. a screw rod; 222. a guide rod; 223. a first guide bar support; 224. a second guide bar support; 225. a slipway mechanism; 2251. a stepping motor; 2252. a stepper motor support; 2253. a flange linear bearing; 231. a mowing motor; 232. mowing knife.

Detailed Description

In order to better understand the above technical solutions, the following detailed description will be given with reference to the accompanying drawings and specific embodiments.

As shown in fig. 1, a first embodiment of the present invention provides an intelligent mower, which comprises an intelligent mower body and a control system used in cooperation with the intelligent mower body, wherein the intelligent mower body comprises a working carrier chassis 10 and a working tool 20 arranged on the working carrier chassis 10, the working carrier chassis 10 comprises a steering engine support frame 11, a completely central symmetrical frame 30, four headlight support frames 12 extending along the circumferential direction of the steering engine support frame 11, a front fork belt bowl group 13 correspondingly arranged below the headlight support frame 12, a spring double shock absorber 15 respectively arranged on the front fork belt bowl group 13, a driving motor 16 for driving wheels to rotate, a front fork belt bowl group, And a wheel 17 sleeved on a driving motor 16 for driving the wheel to rotate, a spring double damper 15 is sleeved on a front fork of the front fork bowl group 13, the driving motor 16 for driving the wheel to rotate is sleeved on a rotating shaft of the front fork bowl group 13, a first synchronous wheel 131 is sleeved on the front fork bowl group 13, the front fork bowl group 13 is fixedly connected with a completely central symmetrical frame 30, a steering engine 1111 and a steering engine lower support plate 112 are mounted on a steering engine support frame 11, a second synchronous wheel 1121, a first tension wheel 1122 and a second tension wheel 1123 are mounted on the steering engine lower support plate 112, the second synchronous wheel 1121 is sleeved on a main shaft of the steering engine 1111, the first synchronizing wheel 131 is connected with the second synchronizing wheel 1121, the first tension wheel 1122 and the second tension wheel 1123 through a synchronous belt 1124, please refer to fig. 2, the control system includes a steering engine driver and a driving motor driver for driving the wheels to rotate, the steering engine driver is connected with the steering engine 1111, and the driving motor driver for driving the wheels to rotate is connected with the driving motor 16 for driving the wheels to rotate, so as to realize the switching of the rear wheel single ackerman steering mode, the front wheel single ackerman steering mode, the double ackerman steering mode, the straight running mode, the spinning mode, the tilting mode, the traversing mode or the parking mode. The ascending is respectively a rear wheel single ackerman steering mode, a front wheel single ackerman steering mode, a double ackerman steering mode and a straight traveling mode from left to right. The descending is respectively a spin mode, a tilting mode, a traversing mode and a parking mode from left to right. In this embodiment, the headlight support frame 12 is provided with a headlight and a turn signal. The control system is used for respectively driving the driving motor 16 and the steering engine 1111 for driving the wheels to rotate to act, so that the switching of a single ackerman steering mode of the rear wheels, a single ackerman steering mode of the front wheels, a double ackerman steering mode, a straight running mode, a spinning mode, a tilting mode, a traversing mode or a parking mode is realized, the vehicle runs in any direction on a plane and has zero turning radius, the operation flexibility and the accuracy of the device are improved, and the vehicle is suitable for a narrow space and a curve path. The rear wheel single ackerman steering mode is that the front wheels are fixed to move straight, and the rear wheels are steered. The front wheel single ackerman steering mode is that the front wheels steer, and the rear wheels are fixed and move straight. The front and rear of the chassis in the double-Ackerman steering mode are provided with an Ackerman steering structure, and the front and rear four wheels are double-rotated. The straight running mode is that four wheels are fixed and straight running. The spin mode is that the front and rear four wheels always rotate in place. The tilting mode is to move forward and backward in one direction at the same time. The traversing mode is that four wheels move transversely at the same time. The parking mode is that the front and rear four wheels are respectively fixed obliquely towards four corners.

Further, please refer to fig. 1 to 8, in the intelligent mower provided in this embodiment, the working implement 20 includes a vertical lifting mechanism 21, a reciprocating mechanism 22 and a mowing knife mechanism 23, one end of the reciprocating mechanism 22 is connected with the vertical lifting mechanism 21, and the other end of the reciprocating mechanism 22 is connected with the mowing knife mechanism 23. In this embodiment, the vertical lift mechanism 21 may be an existing scissor lift platform, the reciprocating mechanism 22 may be an existing horizontal moving platform, and the mowing knife mechanism 23 may be an existing blade mowing knife mechanism.

Preferably, referring to fig. 1 to 8, the vertical lifting mechanism 21 of the intelligent mower provided in this embodiment includes an upper connecting plate 211, a lower connecting plate 212, a telescopic driving member 213, a supporting rod 214, an upper U-shaped slot 215, a lower U-shaped slot 216, a first lifting supporting member 217 and a second lifting supporting member 218, one end of the telescopic driving member 213 is connected with the lower connecting plate 212 through the first lifting supporting member 217, and the other end of the telescopic driving member 213 is connected with the upper connecting plate 211 through the second lifting supporting member 218, so as to push the mower blade mechanism 23 to perform lifting motion. One end of the support bar 214 is connected with the upper connection plate 211 through an upper U-shaped groove 215, and the other end of the support bar 214 is connected with the lower connection plate 212 through a lower U-shaped groove 216. The reciprocating mechanism 22 includes a lead screw 221, a guide bar 222, a first guide bar support 223, a second guide bar support 224, and a slide mechanism 225, the lead screw 221 and the guide bar 222 respectively passing through the slide mechanism 225 and both ends thereof being respectively supported on the first guide bar support 223 and the second guide bar support 224. The sliding table mechanism 225 includes a stepper motor 2251, a stepper motor support 2252 and a flange linear bearing 2253, wherein the stepper motor 2251 and the flange linear bearing 2253 are respectively supported on the stepper motor support 2252, and the control system further includes a stepper motor driver connected to the stepper motor 2251 for pushing the mower mechanism 23 to move horizontally. The mowing knife mechanism 23 comprises a mowing motor 231 and a mowing knife 232 connected with a main shaft of the mowing motor 231, and the control system further comprises a mowing motor driver connected with the mowing motor 231 and used for driving the mowing knife 232 to mow. The mowing tool bit can also be a mowing rope, a straight tool bit, a six-blade flail knife, a chain knife or a saw blade knife. The intelligent mower provided by the embodiment adopts a vertical lifting mechanism and a reciprocating motion structure, and can adjust mowing width and height.

Further, please refer to fig. 1 to 7, the control system further includes a sensor collecting device, and in this embodiment, the sensor collecting device includes a tracking sensor module, a nine-axis gesture sensor module, a binocular vision sensor module, an ultrasonic sensor module, a laser radar sensor module, a power detection module and an inductive switch sensor. The control system further comprises a main controller device, wherein the main controller device comprises a main controller and a wireless communication module, and the main controller is respectively connected with the tracking sensor module, the nine-axis gesture sensor module, the binocular vision sensor module, the ultrasonic sensor module, the laser radar sensor module, the power detection module, the inductive switch sensor, the wireless communication module, the steering engine driver, the driving motor driver for driving the wheels to rotate and the stepping motor driver. The nine-axis attitude sensor module can also be replaced by a three-axis attitude sensor, a six-axis attitude sensor, a ten-axis attitude sensor, an optical flow sensor, a two-axis accelerometer, a two-axis gyroscope or a magnetometer. The intelligent mower provided by the embodiment improves the sensing capability and the real-time response speed of the device through the sensor fusion technology. Detecting and identifying obstacles in real time, and adjusting a mowing path to avoid collision; through techniques such as operation data analysis, data mining, machine learning and the like, operation data of the intelligent mower are analyzed, useful information and data are extracted, and decision is made. The data fed back by the visual sensor, the ultrasonic sensor and other sensors are subjected to image processing and deep learning by using a sensing algorithm. The related algorithm of intelligent mower running is self-adaptively performed by a tracking sensor to carry out rapid tracking and path planning. The nine-axis attitude gyroscope is used for determining the change quantity of the steering angle and the rotating speed of the moving wheel through PID (Proportional, integral and derivative) algorithm control, and the attitude change is monitored in real time to correct and compensate the running motion attitude of the intelligent mower. The wireless communication module can interact with a PC (personal computer ) end and a mobile end and monitor in real time, and feed back the operation condition of the intelligent mower and execute operation planning in different scenes.

Preferably, please see fig. 1 to 7, the control system further includes a man-machine interaction device, the man-machine interaction device includes a display module, an internet of things module and a voice module, and the main controller is connected with the display module, the internet of things module and the voice module respectively, for realizing man-machine interaction. The control system also comprises an alarm device, wherein the alarm device comprises an alarm lamp and a steering lamp, and the main controller is connected with the alarm lamp and the steering lamp and is used for realizing alarm. The man-machine interaction device is used for realizing information exchange and interaction between a person and the robot, and the person can conveniently communicate with the intelligent lawn mower with the abdomen-type side edge through the module equipment, and sends out instructions or obtains feedback.

Preferably, please see fig. 1 to 14, the intelligent mower provided in this embodiment, the control system includes a main controller, a power supply reverse connection protection circuit, a key switch control circuit, a DC-DC power supply voltage stabilizing and reducing isolation module, a power supply electric quantity detection module, an alarm circuit module, a laser radar module, a binocular vision module, a nine-axis attitude sensor, an internet of things sensor, a wireless transceiver module, an ultrasonic sensor module, a first driver, an operation carrier running mechanism, a second driver, an operation carrier steering mechanism, a third driver, a mowing knife mechanism, a fourth driver, a vertical lifting mechanism, a fifth driver, a reciprocating mechanism and an expansion interface, wherein the power supply reverse connection protection circuit is connected with the main controller through the key switch control circuit and the DC-DC power supply voltage stabilizing and reducing isolation module which are connected in series, the main controller is respectively connected with the laser radar module, the binocular vision module, the nine-axis attitude sensor, the internet of things sensor, the wireless transceiver module, the ultrasonic sensor module and the expansion interface, the first driver, the operation carrier running mechanism is connected with the operation carrier running mechanism through the first driver, the second driver, the fifth driver, the reciprocating mechanism is connected with the main controller through the second driver and the third driver through the vertical lifting mechanism, and the reciprocating mechanism is connected with the main controller through the third driver through the vertical lifting mechanism.

1. The method for controlling the running mechanism of the working vehicle is as follows:

The first driver adopts a Hall sensing type direct current brushless hub gear motor driver; the hub motor adopts a Hall sensing type direct current brushless hub gear motor.

The control method comprises the steps of using double closed-loop control, outputting PWM signals by a main controller, driving a hub motor to drive wheels to run through a first driver, measuring the speed by detecting the magnetic field change through an internal integrated Hall sensor, converting the magnetic field into voltage signals for feedback and comparison, performing speed adjustment according to the actual rotating speed and the target rotating speed, and controlling three-phase output again according to feedback information to enable the motor to continuously and normally work; the current signal is fed back and compared with the set current, and the magnitude and the frequency of the driving current are changed to realize the control of the motor speed and the motor torque; the power detection is carried out by collecting the voltage and the current during running, obtaining the power through calculation, feeding back to the main controller for comparison, and judging the running state according to the comparison result of the actual power and the rated power.

2. The control method of the vertical lifting mechanism is as follows:

the fourth driver adopts a DC brush motor driver; the motor adopts a direct current brush motor.

The control method comprises the following steps: the position is set firstly, then the main controller sends pulse signals to the fourth driver, and the driver controls the direct current pen type electric push rod to ascend and descend to reach the set height. The built-in current limiting protection prevents the motor from blocking. Meanwhile, the real-time position between the upper connecting plate and the lower connecting plate of the lifting mechanism is fed back through the ultrasonic sensor or the laser ranging sensor, and the lifting mechanism stops when the position between the upper connecting plate and the lower connecting plate of the lifting mechanism reaches a set position.

3. The reciprocating mechanism control method is as follows:

the fifth driver adopts a stepping motor driver, and the stepping motor adopts a penetrating linear screw rod stepping motor.

The control method comprises the following steps: the position is set first, then the main controller sends pulse signals to the fifth driver, and the fifth driver controls the stepping motor to move the sliding table mechanism. Meanwhile, the real-time position of the sliding table mechanism is fed back through the ultrasonic sensor or the laser ranging sensor, and the sliding table mechanism stops when the position of the sliding table mechanism reaches the set position.

4. The control method of the grass cutter mechanism is as follows:

The third driver adopts a DC brushless motor driver, and the motor adopts a DC brushless motor.

The control method comprises the following steps: the method comprises the steps of setting the rotating speed, sending pulse signals to a third driver by a main controller, controlling a brushless motor to rotate a mowing cutter head by the third driver, comparing the speed signals fed back by the third driver with the set rotating speed, and adjusting the rotating speed. Meanwhile, the power detection module is used for detecting real-time power of the brushless motor, and feeding back a power signal to the main controller for judging a mowing state.

5. The control method of the steering mechanism of the working carrier is as follows:

The second driver adopts a DC brush motor driver, and the motor adopts a DC brush motor.

The control method comprises the following steps: the angle is set firstly, then the main controller sends a pulse signal to the second driver, the second driver controls the direct current brush motor to rotate, the direct current brush motor drives the gear set, and the gear set is transmitted to the output shaft after being decelerated. The output shaft of steering engine links to each other with angle sensor, and when the output shaft rotated, angle sensor will feed back an angle signal to main control unit and compare and angle regulation, stops turning to when angle of rotation reached the settlement angle.

As shown in fig. 1 to 14, the working principle of the intelligent mower provided in this embodiment is as follows:

The wireless transmission device is in communication connection with the intelligent mower, when the wireless transmission device transmits a rear wheel steering control instruction to the intelligent mower, the wireless communication module on the intelligent mower forwards the received rear wheel steering control instruction to the main controller, the main controller switches the intelligent mower into a rear wheel single-Ackerman steering mode, and controls the corresponding steering engine driver and the driving motor driver for driving the wheels to rotate to act, so that the driving motor 16 for driving the corresponding moving driving wheels to rotate and the steering engine 1111 are driven to do rotary motion, the corresponding steering engine 1111 drives the corresponding second synchronous wheel 1121 to act, the adaptive synchronous belt 1124 drives the first synchronous wheel 131 to act synchronously, and the corresponding front fork bowl group 13 is driven to act under the driving of the first synchronous wheel 131 to drive the corresponding front fork bowl group 13 to act so as to realize steering; meanwhile, the driving motor 16 driving the wheels to rotate drives the corresponding wheels to act so as to realize wheel rolling, and finally, the front wheels are fixed and move straight, and the rear wheels are turned.

When the wireless transmitting device transmits a front wheel steering control instruction to the intelligent mower, the wireless communication module on the intelligent mower transmits the received front wheel steering control instruction to the main controller, the main controller switches the intelligent mower into a front wheel single-ackerman steering mode, and controls the corresponding steering engine driver and the driving motor driver for driving the wheels to rotate to act, so that the driving motor 16 for driving the corresponding moving driving wheels to rotate and the steering engine 1111 are driven to do rotary motion, the corresponding steering engine 1111 drives the corresponding second synchronous wheel 1121 to act, the adaptive synchronous belt 1124 drives the first synchronous wheel 131 to act synchronously, and the corresponding front fork belt bowl group 13 is driven to act under the driving of the first synchronous wheel 131 to realize steering; meanwhile, the driving motor 16 driving the wheels to rotate drives the corresponding wheels to act so as to realize wheel rolling, and finally, the front wheels turn, and the rear wheels are fixed and move straight.

When the wireless transmitting device transmits a double-Ackerman control instruction to the intelligent mower, a wireless communication module on the intelligent mower transmits the received double-Ackerman control instruction to the main controller, the main controller switches the intelligent mower into a double-Ackerman steering mode, and controls the corresponding steering engine driver and the driving motor driver for driving wheels to rotate to act, so that the driving motor 16 for driving the corresponding dynamic driving wheels to rotate and the steering engine 1111 are driven to do rotary motion, the corresponding steering engine 1111 drives the corresponding second synchronous wheel 1121 to act, the adaptive synchronous belt 1124 drives the first synchronous wheel 131 to act synchronously, and the corresponding front fork belt bowl group 13 is driven to act under the driving of the first synchronous wheel 131 to realize steering; meanwhile, the driving motor 16 driving the wheels to rotate drives the corresponding wheels to act so as to realize wheel rolling, and finally, front and rear four-wheel double rotation matched with front wheel steering and rear wheel steering is realized.

When the wireless transmitting device transmits a straight-going control instruction to the intelligent mower, the wireless communication module on the intelligent mower forwards the received straight-going control instruction to the main controller, the main controller switches the intelligent mower into a straight-going mode, and controls the corresponding steering engine driver and the driving motor driver for driving the wheels to rotate to act, so that the driving motor 16 for driving the corresponding dynamic driving wheels to rotate and the steering engine 1111 are driven to do rotary motion, the corresponding steering engine 1111 drives the matched second synchronous wheel 1121 to act, the adaptive synchronous belt 1124 drives the first synchronous wheel 131 to synchronously act, and the corresponding front fork belt bowl group 13 is driven to act under the drive of the first synchronous wheel 131 to drive the corresponding front fork belt bowl group 13 to act to realize steering; meanwhile, the driving motor 16 driving the wheels to rotate drives the corresponding wheels to act so as to realize wheel rolling, thereby realizing the fixed straight running of the front and rear four wheels of which the front wheels are matched with the straight running of the rear wheels.

When the wireless transmitting device transmits a spin control instruction to the intelligent mower, the wireless communication module on the intelligent mower transmits the received spin control instruction to the main controller, the main controller switches the intelligent mower into a spin mode and controls the corresponding steering engine driver and the driving motor driver for driving the wheels to rotate to act, so that the driving motor 16 for driving the corresponding dynamic driving wheels to rotate and the steering engine 1111 are driven to do rotary motion, the corresponding steering engine 1111 drives the matched second synchronous wheel 1121 to act, the adaptive synchronous belt 1124 drives the first synchronous wheel 131 to act synchronously, and the corresponding front fork belt bowl group 13 is driven by the first synchronous wheel 131 to act to drive the corresponding front fork belt bowl group 13 to act to realize steering; meanwhile, the driving motor 16 driving the wheels to rotate drives the corresponding wheels to act so as to realize wheel rolling, and finally, front and rear four wheels matched with front wheel rotation and rear wheel rotation are always rotated in situ.

When the wireless transmitting device transmits a tilting control instruction to the intelligent mower, the wireless communication module on the intelligent mower transmits the received tilting control instruction to the main controller, the main controller switches the intelligent mower into a tilting mode and controls the corresponding steering engine driver and the driving motor driver for driving the wheels to rotate to act, so that the driving motor 16 for driving the corresponding dynamic driving wheels to rotate and the steering engine 1111 are driven to do rotary motion, the corresponding steering engine 1111 drives the matched second synchronous wheel 1121 to act, the adaptive synchronous belt 1124 drives the first synchronous wheel 131 to synchronously act, and the corresponding front fork belt bowl group 13 is driven to act under the drive of the first synchronous wheel 131 to drive the corresponding front fork belt bowl group 13 to act to realize steering; meanwhile, the driving motor 16 driving the wheels to rotate drives the corresponding wheels to act so as to realize wheel rolling, and finally, front and rear four wheels matched with the front wheel tilting and the rear wheel tilting move in one direction at the same time.

When the wireless transmitting device transmits a die shift control instruction to the intelligent mower, a wireless communication module on the intelligent mower transmits the received die shift control instruction to a main controller, the main controller switches the intelligent mower into a traversing mode and controls a corresponding steering engine driver and a driving motor driver for driving wheels to rotate to act, so that a driving motor 16 for driving corresponding dynamic driving wheels to rotate and a steering engine 1111 are driven to do rotary motion, a corresponding steering engine 1111 drives a matched second synchronous wheel 1121 to act, an adaptive synchronous belt 1124 drives a first synchronous wheel 131 to act synchronously, and a corresponding front fork belt bowl group 13 is driven to act under the drive of the first synchronous wheel 131 to drive a corresponding front fork belt bowl group 13 to act to realize steering; meanwhile, the driving motor 16 driving the wheels to rotate drives the corresponding wheels to act so as to realize wheel rolling, and finally, front and rear four wheels matched with the transverse movement of the front wheels and the transverse movement of the rear wheels are transversely moved at the same time.

When the wireless transmitting device transmits a parking control instruction to the intelligent mower, the wireless communication module on the intelligent mower transmits the received parking control instruction to the main controller, the main controller switches the intelligent mower into a parking mode and controls the corresponding steering engine driver and the driving motor driver for driving wheels to rotate to act, so that the driving motor 16 for driving the corresponding dynamic driving wheels to rotate and the steering engine 1111 are driven to do rotary motion, the corresponding steering engine 1111 drives the matched second synchronous wheel 1121 to act, the adaptive synchronous belt 1124 drives the first synchronous wheel 131 to act synchronously, and the corresponding front fork belt bowl group 13 is driven by the first synchronous wheel 131 to act to drive the corresponding front fork belt bowl group 13 to act to realize steering; meanwhile, the driving motor 16 driving the wheels to rotate drives the corresponding wheels to act so as to realize the rotation of the wheels, and finally, the front and rear four wheels which are matched with the oblique movement of the front wheels and the oblique movement of the rear wheels are respectively fixed obliquely towards four corners.

The intelligent mower that this embodiment provided, compare with prior art, adopt intelligent mower automobile body and the control system who is connected with intelligent mower automobile body, intelligent mower automobile body includes the operation carrier chassis and locate the operation machines on the operation carrier chassis, the operation carrier chassis includes steering engine support frame, four headlight support frames along steering engine support frame circumference extension, the front fork area bowl group of locating headlight support frame below correspondingly, be located the front fork area bowl group below, install the spring pair bumper shock absorber and the wheel pivoted driving motor on the front fork area bowl group respectively, and the cover is located the wheel on the driving wheel pivoted driving motor, but front fork area bowl group is equipped with first synchronizing wheel with headlight support frame swivelling joint, install upper backup pad and steering engine lower backup pad on the steering engine support frame, be equipped with the steering engine in the upper backup pad, be equipped with the second synchronizing wheel under the steering engine backup pad, first tight pulley and the second tight pulley that rises, the second synchronizing wheel cover is located the main shaft of steering engine, first synchronizing wheel is equipped with the first synchronizing wheel and the first synchronizing wheel that rises respectively, first tight pulley and the driver is connected with the wheel driver of steering engine is connected with the wheel driver of the steering engine, the driver of the steering engine is rotated with the wheel driver including the first synchronizing wheel, the wheel driver is connected with the wheel driver of the wheel is rotated to the driver of the first driver that rises. The intelligent mower provided by the embodiment adopts an operation carrier chassis: the mower is designed in a lightweight way, through a unique suspension system and a driving motor for driving wheels to rotate, omnidirectional movement is realized, adaptability of equipment on complex terrains is improved, two mowing modes of a belly type and a side type are realized, mowing is efficient, dead angles are avoided, and roots are tidily and not damaged; an intelligent control device is adopted: by carrying the sensor, the Internet of things and the artificial intelligence technology, the mower realizes functions of autonomous navigation, path planning, fault diagnosis and the like, and improves the intelligent level of equipment; adopts a mowing knife mechanism: by optimizing the design and materials of the cutting device, the cutting efficiency and effect are improved, and meanwhile, the energy consumption is reduced; the environment-friendly power device and the noise reduction device are adopted, and the environment-friendly power system and the noise reduction measures are adopted, so that the pollution of waste gas and noise in the operation process of the mower is reduced, and the environment-friendly performance of the device is improved.

While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the invention. It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.

Claims (10)

1. An intelligent mower is characterized by comprising an intelligent mower body and a control system matched with the intelligent mower body, wherein the intelligent mower body comprises an operation carrier chassis (10) and an operation tool (20) arranged on the operation carrier chassis (10), the operation carrier chassis (10) comprises a steering engine support frame (11), four headlight support frames (12) extending along the circumferential direction of the steering engine support frame (11), a front fork belt bowl group (13) correspondingly arranged below each headlight support frame (12), a pair of spring double shock absorbers (15) respectively arranged on the front fork belt bowl group (13) and a driving motor (16) for driving wheels to rotate, and wheels (17) sleeved on the driving motor (16), a first synchronous wheel (131) is sleeved on the front fork belt bowl group (13), the steering engine support frame (11) is fixedly connected with a completely central symmetrical frame (30), a steering engine (1111) and a second synchronous wheel (1111) are arranged on the steering engine support frame (11), a steering engine (1121) and a second synchronous wheel (1111) are arranged on the steering support frame (112), a first synchronous wheel (1111) and a second synchronous wheel (1121111) are arranged on the steering support frame (112), the first synchronous wheel (131) is respectively connected with the second synchronous wheel (1121), the first tensioning wheel (1122) and the second tensioning wheel (1123) through synchronous belts (1124); the control system comprises a steering engine driver and a driving motor driver for driving wheels to rotate, wherein the steering engine driver is connected with the steering engine (1111), and the driving motor driver is connected with the driving motor (16) and is used for realizing the switching of a single Akerman steering mode of rear wheels, a single Akerman steering mode of front wheels, a double Akerman steering mode, a straight running mode, a spinning mode, a tilting mode, a traversing mode or a parking mode.

2. The intelligent mower as claimed in claim 1, wherein the work implement (20) includes a vertical lift mechanism (21), a reciprocating mechanism (22) and a mower blade mechanism (23), one end of the reciprocating mechanism (22) is connected to the vertical lift mechanism (21), and the other end of the reciprocating mechanism (22) is connected to the mower blade mechanism (23).

3. The intelligent mower as claimed in claim 2, wherein the vertical lifting mechanism (21) includes an upper connection plate (211), a lower connection plate (212), a telescopic driving member (213), a support bar (214), an upper U-shaped groove (215), a lower U-shaped groove (216), a first lifting support assembly (217) and a second lifting support assembly (218), one end of the telescopic driving member (213) is connected to the lower connection plate (212) through the first lifting support assembly (217), and the other end of the telescopic driving member (213) is connected to the upper connection plate (211) through the second lifting support assembly (218); one end of the supporting rod (214) is connected with the upper connecting plate (211) through the upper U-shaped groove (215), and the other end of the supporting rod (214) is connected with the lower connecting plate (212) through the lower U-shaped groove (216).

4. A smart mower as claimed in claim 3, wherein said reciprocating mechanism (22) comprises a screw (221), a guide bar (222), a first guide bar support (223), a second guide bar support (224) and a slide mechanism (225), said screw (221) and said guide bar (222) passing through said slide mechanism (225) respectively and being supported at both ends thereof on said first guide bar support (223) and said second guide bar support (224) respectively.

5. The intelligent mower of claim 4 wherein the slide mechanism (225) includes a through stepper motor (2251), a stepper motor support (2252) and a flange linear bearing (2253), the stepper motor (2251) and the flange linear bearing (2253) being supported on the stepper motor support (2252) respectively, the control system further including a stepper motor driver, the stepper motor driver being coupled to the stepper motor (2251).

6. The intelligent mower as claimed in claim 5 wherein the mower blade mechanism (23) includes a mower motor (231) and a mower blade (232) coupled to a main shaft of the mower motor (231), the control system further including a mower motor driver coupled to the mower motor (231).

7. The intelligent mower of claim 6, wherein the control system further comprises a sensor acquisition device comprising an external sensor acquisition device and an internal sensor acquisition device, the external sensor acquisition device comprising a tracking sensor module, a binocular vision sensor module, an ultrasonic sensor module, a lidar sensor module. The internal sensor acquisition device comprises a nine-axis attitude sensor module, a power detection module and an inductive switch sensor.

8. The intelligent mower of claim 7, wherein the control system further comprises a main controller device, wherein the main controller is respectively connected with the tracking sensor module, the nine-axis gesture sensor module, the binocular vision sensor module, the ultrasonic sensor module, the lidar sensor module, the power detection module, the inductive switch sensor, the wireless communication module, the steering engine driver, the driving motor driver for driving the rotation of the wheels, and the stepper motor driver.

9. The intelligent mower of claim 8, wherein the human-machine interaction device comprises a wireless transceiver module, a display module, an internet of things module and a voice module, and wherein the main controller is respectively connected with the wireless transceiver module, the display module, the internet of things module and the voice module.

10. The intelligent mower of claim 8 or 9, wherein the control system further comprises an alarm device, the alarm device comprises a warning light and a turn light, and the main controller is respectively connected with the warning light and the turn light.