CN205336853U

CN205336853U - Intelligence is kept away and is hindered machine people that mows

Info

Publication number: CN205336853U
Application number: CN201620004088.9U
Authority: CN
Inventors: 宗殿栋; 郭晶; 李卫成; 汪地
Original assignee: University of Shanghai for Science and Technology
Current assignee: University of Shanghai for Science and Technology
Priority date: 2016-01-06
Filing date: 2016-01-06
Publication date: 2016-06-29
Anticipated expiration: 2026-01-06

Abstract

The utility model relates to a move and keep away the barrier intelligence machine people that mows, including mowing the robot and control system, the the robot that mows including store up grass box, fill box of mowing, touch -sensitive screen, left front round, right front wheel, left rear wheel, right back round, left step motor, right step motor, send careless cylinder, the support, in the same direction as grass cylinder, transmission, grass cutting blade, ultrasonic sensor, the motor of mowing, first belt, second belt, two gyroscopes, left front CCD camera, right front CCD camera, left back CCD camera, right back CCD camera. During the intelligence is kept away and is hindered machine people that mows motion, gather, change, handle, merge its week ring edge border and direction information, will obtain the running state that its the adjustment machine people of motor driver module messenger that walks was arrived in all ring edge border information and position appearance information feedback, realize the motion control of robot to realize the good effect of mowing.

Description

A kind of intelligent barrier avoiding grass-removing robot

Technical field

This utility model belongs to mobile apparatus people field, particularly relates to a kind of intelligent barrier avoiding grass-removing robot that can actively perform turf-mown task, can be used for the lawn-care service of various occasion.

Background technology

In city, lawn has dust suction, noise reduction, moisturizing and the plurality of advantages conserved water and soil, and along with economic growth, the quickening of urban construction, uses lawn in various afforestation projects in a large number.At present, lawn had become a kind of emerging industry already.

In the middle of lawn maintenance operation, the workload of turf-mown is very big, and this work not only labor intensity is big, and has significantly high repeatability.At present, most of turf-mowns are all adopt internal combustion engine hay mover operation, noise that internal combustion engine brings and air pollution, and this is by the environment of the health and periphery that have a strong impact on operating personnel.

Along with the development of semiconductor technology, information technology and mechanotronics, this will make robotics enter into daily life gradually.At present, these technology are also applied on the equipment of turf-mown by engineering staff, have developed the grass-removing robot of automatization, reduce the labor intensity of workman to a certain extent, improve mowing efficiency.But it is owing to this technology is also in the primary stage, not yet ripe.At present, the Autonomous Control difficult point of grass-removing robot is motion path control, and its motion path is typically based on the specification on on-the-spot lawn and shape and determine, and generally employing screw path, random motion path control.But these control methods are in the middle of practical operation, owing to not having avoidance ability, robot is often made to be in danger.

On the other hand, existing hay mover does not collect the function of grass mostly, and this will cause that in disorder phenomenon occurs after having cut grass in lawn, and the work of collection grass certainly will strengthen the labor intensity of workman.

Utility model content

The purpose of this utility model is for the problems referred to above that intelligent grass-removing exists on the market at present, it is proposed to a kind of automatic obstacle-avoiding intelligent grass-removing robot, it is possible to realize the functions such as self-navigation, automatic obstacle-avoiding, detection, mowing and collection grass.

In order to achieve the above object, this utility model adopts following concrete technical scheme:

A kind of automatic obstacle-avoiding intelligent grass-removing robot, including grass cutter human body and control system；Described grass cutter human body includes grass storing box body, mow bucket casing, touch screen, the near front wheel, off-front wheel, left rear wheel, off hind wheel, left motor, right motor, send grass cylinder, support, along grass cylinder, actuating device, hay knife, ultrasonic sensor, mowing motor, the first belt, the second belt, two gyroscopes, left front CCD camera, right before CCD camera behind CCD camera, left back CCD camera, the right sides；Described touch screen is arranged on the top of grass storing box body, and two gyroscopes are arranged on bottom touch screen；Described the near front wheel, off-front wheel, left rear wheel, off hind wheel and left motor, right motor are fixed on grass storing box body, two step motor drive the near front wheels, off-front wheels motions；Some ultrasonic sensors are contained in grass storing box body surrounding and are uniformly distributed；Described bucket casing of mowing is arranged on the front end of grass storing box body, and described hay knife is contained in mowing bucket casing front end, and mowing motor is contained in mowing bucket casing forward right side, drives hay knife to move back and forth by actuating device；It is fixed on mowing bucket casing along grass cylinder by two supports, the directional transmissions of grass is realized by the first belt transmission, described send grass cylinder be contained in mowing bucket casing on, it has spiral camber, rotated by the second belt drive, realize grass to be transferred to grass storing box body from bucket casing of mowing, it is to avoid in disorder being scattered on lawn of grass cut；Four CCD camera are contained on grass storing box body.

Described control system includes a master controller, sensor data processor, motor drive module, human-computer interaction module and power module；Primary processor is connected with sensor data processor, motor drive module, human-computer interaction module, power module；Sensor data processor is connected with gyroscope, ultrasonic sensor, CCD camera；Driver is connected with movable motor, mowing motor respectively；Described sensor data processor processes the information of gyroscope and four CCD camera, is controlled the pose of grass cutter human body by gyroscope, and the information obtained by four CCD camera adjusts the kinestate of grass cutter human body, it is achieved operation of mowing；By the avoidance operation of the information realization grass cutter human body that ultrasonic sensor obtains；Described motor drive module drives two motors and mowing motor；Described power module provides 5V power supply for controller, provides 24V power supply for motor driver.

Compared with prior art, the beneficial effects of the utility model are:

During the motion of intelligent barrier avoiding grass-removing robot, its surrounding enviroment and directional information are acquired, change, process, merge, acquisition surrounding enviroment information and posture information feed back to movable motor drives module to make it adjust the running status of robot, realize the motor control of robot, thus realizing good mowing effect；Detect whether route has barrier in real time by ultrasonic sensor, it is achieved automatic obstacle avoidance functions；Can in the grass transport mowed in bucket to grass cutting collection box by rolling up grass roller；By point grass a roller can realize grass combing, be mow more laborsaving, improve mow efficiency, reduce power consumption.

Accompanying drawing explanation

Fig. 1 is top view of the present utility model.

Fig. 2 is front view of the present utility model.

Fig. 3 is right view of the present utility model.

Fig. 4 is Control system architecture figure of the present utility model.

Detailed description of the invention

Below in conjunction with accompanying drawing, preferred embodiment of the present utility model is elaborated.

As shown in Figure 1 to Figure 3, a kind of automatic obstacle-avoiding intelligent grass-removing robot, including grass cutter human body and control system；Described grass cutter human body includes grass storing box body 1, mowing bucket casing 22, touch screen 2, the near front wheel 4, off-front wheel 16, left rear wheel 3, off hind wheel 17, left motor 14, right motor 15, send grass cylinder 5, support 6, along grass cylinder 7, actuating device 8, hay knife 9, ultrasonic sensor 10, mowing motor 11, first belt 12, second belt 13, two gyroscopes 18, 19, left front CCD camera 20, CCD camera 21 before right, left back CCD camera 24, CCD camera 23 behind the right side；Described touch screen 2 is arranged on the top of grass storing box body 1, and two gyroscopes 18,19 are arranged on bottom touch screen 2；Described the near front wheel 4, off-front wheel 16, left rear wheel 3, off hind wheel 17 and left motor 14, right motor 15 are fixed on grass storing box body 1, and two step motor drive the near front wheels 4, off-front wheels 16 move；Some ultrasonic sensors 10 are contained in grass storing box body 1 surrounding and are uniformly distributed；Described bucket casing 22 of mowing is arranged on the front end of grass storing box body 1, and described hay knife 9 is contained in mowing bucket casing 22 front end, and mowing motor 11 is contained in mowing bucket casing 22 forward right side, drives hay knife 9 to move back and forth by actuating device 8；It is fixed on mowing bucket casing 22 along grass cylinder 7 by two supports 6, the directional transmissions of grass is realized by the first belt 12 transmission, described send grass cylinder 5 be contained in mowing bucket casing 22 on, it has spiral camber, it is rotated by the second belt 13, realize grass to be transferred to grass storing box body 1 from bucket casing 22 of mowing, it is to avoid in disorder being scattered on lawn of grass cut；Four CCD camera 20,21,23,24 are contained on grass storing box body 1.

As shown in Figure 4, described control system includes a master controller, sensor data processor, motor drive module, human-computer interaction module and power module；Primary processor is connected with sensor data processor, motor drive module, human-computer interaction module, power module；Sensor data processor is connected with gyroscope, ultrasonic sensor, CCD camera；Driver is connected with movable motor, mowing motor respectively；Described sensor data processor processes the information of 18,19 and four CCD camera 20,21,23,24 of gyroscope, the pose of grass cutter human body is controlled by gyroscope 18,19, the information obtained by four CCD camera 20,21,23,24 adjusts the kinestate of grass cutter human body, it is achieved operation of mowing；By the avoidance operation of the information realization grass cutter human body that ultrasonic sensor 10 obtains；Described motor drive module drives two motors 14,15 and mowing motor 11；Described power module provides 5V power supply for controller, provides 24V power supply for motor driver.

Claims

1. an automatic obstacle-avoiding intelligent grass-removing robot, it is characterised in that include grass cutter human body and control system；Described grass cutter human body includes grass storing box body (1), mowing bucket casing (22), touch screen (2), the near front wheel (4), off-front wheel (16), left rear wheel (3), off hind wheel (17), left motor (14), right motor (15), send grass cylinder (5), support (6), along grass cylinder (7), actuating device (8), hay knife (9), ultrasonic sensor (10), mowing motor (11), first belt (12), second belt (13), two gyroscopes (18, 19), left front CCD camera (20), CCD camera (21) before right, left back CCD camera (24), CCD camera (23) behind the right side；Described touch screen (2) is arranged on the top of grass storing box body (1), and two gyroscopes (18,19) are arranged on touch screen (2) bottom；Described the near front wheel (4), off-front wheel (16), left rear wheel (3), off hind wheel (17) and left motor (14), right motor (15) are fixed on grass storing box body (1), two step motor drive the near front wheels (4), off-front wheels (16) motions；Some ultrasonic sensors (10) are contained in grass storing box body (1) surrounding and are uniformly distributed；Described bucket casing (22) of mowing is arranged on the front end of grass storing box body (1), described hay knife (9) is contained in mowing bucket casing (22) front end, mowing motor (11) is contained in mowing bucket casing (22) forward right side, drives hay knife (9) to move back and forth by actuating device (8)；It is fixed in mowing bucket casing (22) along grass cylinder (7) by two supports (6), the directional transmissions of grass is realized by the first belt (12) transmission, described grass cylinder (5) is sent to be contained in mowing bucket casing (22), it has spiral camber, it is rotated by the second belt (13), realize grass to be transferred to grass storing box body (1) from bucket casing (22) of mowing, it is to avoid in disorder being scattered on lawn of grass cut；Four CCD camera (20,21,23,24) are contained on grass storing box body (1).

2. automatic obstacle-avoiding intelligent grass-removing robot according to claim 1, it is characterised in that described control system includes a master controller, sensor data processor, motor drive module, human-computer interaction module and power module；Primary processor is connected with sensor data processor, motor drive module, human-computer interaction module, power module；Sensor data processor is connected with gyroscope, ultrasonic sensor, CCD camera；Driver is connected with movable motor, mowing motor respectively；Described sensor data processor processes the information of gyroscope (18,19) and four CCD camera (20,21,23,24), the pose of grass cutter human body is controlled by gyroscope (18,19), the information obtained by four CCD camera (20,21,23,24) adjusts the kinestate of grass cutter human body, it is achieved operation of mowing；By the avoidance operation of the information realization grass cutter human body that ultrasonic sensor (10) obtains；Described motor drive module drives two motors (14,15) and mowing motor (11)；Described power module provides 5V power supply for controller, provides 24V power supply for motor driver.