CN215421675U

CN215421675U - Automatic mower based on AI identification

Info

Publication number: CN215421675U
Application number: CN202121726301.4U
Authority: CN
Inventors: 彭祎成; 尹凝霞; 赵江林; 李晓莹; 张宇明; 王翔宇
Original assignee: Guangdong Ocean University
Current assignee: Guangdong Ocean University
Priority date: 2021-07-28
Filing date: 2021-07-28
Publication date: 2022-01-07
Anticipated expiration: 2031-07-28

Abstract

The utility model provides an automatic mower based on AI identification, which comprises a chassis, wherein the top of the chassis is covered with a shell, the front end of the shell is provided with a driven wheel component, the rear end of the shell is provided with a driving wheel component, the bottom of the chassis is provided with a blade component, the top surface of the chassis is provided with a control module, the driving wheel component and the blade component are respectively and electrically connected with the control module, the control module is electrically connected with a sensor component, the sensor component is arranged on the shell, the control module is in signal connection with a moving end, and the moving end is used for AI identification of obstacles. The mower provided by the utility model has the advantages that the AI identification barrier function of the mobile terminal is matched with the control module to drive the mower to work, so that the mower can realize intelligent control, the working efficiency is improved, the mower can work on complex terrains, and the environmental pollution is avoided in the using process.

Description

Automatic mower based on AI identification

Technical Field

The utility model relates to the technical field of intelligent mower production and manufacturing, in particular to an automatic mower based on AI identification.

Background

The development speed of agricultural weeding machines is accelerated in recent years. A630 model weeding machine of Beijing Doli mechanical equipment manufacturing Limited, the cutter is rotary, and has a flattening device, and the cutting width is 2.9. The FC283 type rotary mower developed by the Middling machine Meinuo science and technology Limited company is mainly used for harvesting high-volume pasture. The rotating speed of the power output shaft is 540r/min, the number of discs is 6, the number of knives on each disc is 2, and the loss rate of pasture is 8-10%. Generally speaking, most of the mowers on the market are fuel-oil manual mowers, and special equipment is required to operate, so that time and labor are wasted, and environmental pollution to a certain extent is also caused.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide an automatic mower based on AI identification, which solves the problems in the prior art.

In order to achieve the purpose, the utility model provides the following scheme: the utility model provides an automatic mower based on AI identification, which comprises a chassis, wherein the top of the chassis is covered with a shell, the front end of the shell is provided with a driven wheel assembly, the rear end of the shell is provided with a driving wheel assembly, the bottom of the chassis is provided with a blade assembly, the top surface of the chassis is provided with a control module, the driving wheel assembly and the blade assembly are respectively and electrically connected with the control module, the control module is electrically connected with a sensor assembly, the sensor assembly is arranged on the shell, the control module is in signal connection with a moving end, and the moving end is used for AI identification of obstacles.

Preferably, the driven wheel assembly comprises two front driven wheels which are symmetrically arranged, the two front driven wheels are respectively connected to two opposite side walls of the shell in a shaft mode, the driving wheel assembly comprises two rear driving wheels which are symmetrically arranged, a transmission shaft of each rear driving wheel penetrates through the side wall of the shell and is fixedly connected with an output shaft of a first motor, the two first motors are respectively fixed to the two opposite side walls of the shell and are located on the inner side of the shell, and the front driven wheels and the rear driving wheels are arranged in the same direction;

the blade assembly comprises a plurality of second motors fixed on the top surface of the chassis, and output shafts of the second motors penetrate through the chassis and are fixed with blades;

the first motor and the second motor are respectively electrically connected with the control module.

Preferably, the blade is the rectangle structure, two relative long limits all are provided with the cutting edge on the blade, two cutting edge centrosymmetry, the pilot hole has been seted up at the center of blade, the second motor pass through the pilot hole with the blade rigid coupling.

Preferably, a power supply is fixed on the chassis and electrically connected with the first motor, the second motor and the control module.

Preferably, the first motor and the second motor are electrically connected to the control module through motor driving boards respectively.

Preferably, the sensor assembly is embedded in the shell, and the probe end of the sensor assembly extends out of the surface of the shell.

Preferably, the sensor assembly comprises an infrared photoelectric sensor, an infrared distance measuring sensor and an ultrasonic distance measuring sensor, and the infrared photoelectric sensor, the infrared distance measuring sensor and the ultrasonic distance measuring sensor are respectively electrically connected with the control module.

Preferably, the first motor is a dc speed reduction motor, and the second motor is a dc brushless motor.

Preferably, the control module is a stm32 main control chip.

The utility model discloses the following technical effects: the control module drives the rear driving wheel assembly to work, so that the whole mower can move, the mobile terminal with the AI obstacle recognition function is used for completing intelligent matching of the object image and transmitting data to the control module in real time, the control module receives and analyzes the data and then plans the route, and the mower is controlled to work according to the route, so that the effective obstacle avoidance of the mower in the working process is realized, the weeding coverage rate is ensured, the working efficiency is improved, the mower can work on more complex terrains, and the environmental pollution cannot be caused in the using process.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.

FIG. 1 is an isometric view of the present invention;

FIG. 2 is a left side view of the present invention;

FIG. 3 is a top view of the present invention;

FIG. 4 is a right side view of the present invention;

FIG. 5 is a front view of the present invention;

FIG. 6 is a bottom view of the present invention;

FIG. 7 is a schematic diagram of a connection relationship between a control module and a mobile terminal according to the present invention;

wherein, 1 is the chassis, 2 is the shell, 3 is preceding driven wheel, 4 is the back drive wheel, 5 is first motor, 6 is the second motor, 7 is the blade, 8 is the cutting edge, 9 is the pilot hole, 10 is the power, 11 is control module, 12 is the motor drive board, 13 is infrared photoelectric sensor, 14 is infrared range sensor.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.

Referring to fig. 1-7, the utility model provides an automatic mower based on AI identification, comprising a chassis 1, a housing 2 is covered on the top of the chassis 1, the whole housing 2 is streamline and is convenient for reducing air resistance, a driven wheel assembly is arranged at the front end of the housing 2, a driving wheel assembly is arranged at the rear end of the housing 2, the mower adopts rear drive as power, two hollowed fences (not marked in the figure) are arranged at the tail of the housing 2 to prevent the motor from overheating, a blade assembly is arranged at the bottom of the chassis 1, a control module 11 is arranged on the top surface of the chassis 1, the control module 11 is a lower computer, preferably an stm32 main control chip, the driving wheel assembly and the blade assembly are respectively and electrically connected with the control module 11, the control module 11 is electrically connected with a sensor assembly, the sensor assembly is arranged on the housing 2, the control module 11 is in signal connection with a moving end, and data are transmitted through wireless module communication, wireless module is wifi and bluetooth, it is used for the AI discernment barrier to remove the end, it is the host computer to remove the end, preferably mobile phone, it has the app of AI discernment barrier to remove the end to be equipped with, this app preferably flies the AI extremely, circle the choice operation plot on app high definition map, if have the barrier in the plot, then through the intelligent recognition back check course whether match the actual barrier condition, through removing the end with real-time remote transmission of data to control module 11, control module 11 receives data and carries out the analysis back, carry out the route planning, the whole lawn mower of transmission control works according to the route, realize the effective obstacle avoidance of lawn mower in the course of the work, and guarantee the weeding coverage.

According to a further optimized scheme, the driven wheel assembly comprises two front driven wheels 3 which are symmetrically arranged, the two front driven wheels 3 are respectively connected to two opposite side walls of the shell 2 in a shaft mode, the driving wheel assembly comprises two rear driving wheels 4 which are symmetrically arranged, a transmission shaft of each rear driving wheel 4 penetrates through the side wall of the shell 2 and is fixedly connected with an output shaft of a first motor 5, the two first motors 5 are respectively fixed to the two opposite side walls of the shell 2, the first motors 5 are located on the inner side of the shell 2, the front driven wheels 3 and the rear driving wheels 4 are arranged in the same direction, the mower driving device is characterized in that the two first motors 5 at the tail part drive the rear driving wheels 4 to rotate, the rotating direction is controlled by differential motion between two wheels and one universal wheel at the front part (not shown in the figure), and the automobile steering mechanism in the prior art is referred;

the blade component comprises a plurality of second motors 6 fixed on the top surface of the chassis 1, the output shafts of the second motors 6 penetrate through the chassis 1 and are fixed with blades 7, two blades 7 are arranged at the bottom of the mower and are positioned at the front part of the mower, and power is transmitted by one second motor 6 positioned at the front part; the first motor 5 and the second motor 6 are respectively electrically connected with the control module 11.

Further optimization scheme, blade 7 is the rectangle structure, and two relative long limits all are provided with cutting edge 8 on blade 7, and two cutting edge 8 centrosymmetries, pilot hole 9 have been seted up at the center of blade 7, and second motor 6 passes through

pilot hole

9 and 7 rigid couplings of blade to blade 7 is the suspension type blade, can reduce the cutting height deviation, improves the efficiency of mowing.

According to the further optimization scheme, a power supply 10 is fixed on the chassis 1, the power supply 10 is electrically connected with the first motor 5, the second motor 6 and the control module 11, the power supply 10 is preferably a 24V21AH lithium battery, and the cruising ability is strong.

In a further optimized scheme, the first motor 5 and the second motor 6 are respectively electrically connected with the control module 11 through a motor driving board 12, and the motor driving board 12 is preferably an L298 motor driving board.

In a further optimized scheme, the sensor assembly is embedded on the shell 2, the probe end of the sensor assembly extends out of the surface of the shell 2, the sensor assembly comprises an infrared photoelectric sensor 13, an infrared distance measuring sensor 14 and an ultrasonic distance measuring sensor, the infrared photoelectric sensor 13, the infrared distance measuring sensor 14 and the ultrasonic distance measuring sensor are respectively and electrically connected with the control module 11, the infrared photoelectric sensors 13 are respectively arranged at the front, the left and the right 45 degrees and the tail of the shell 2, the positions of the infrared distance measuring sensor 14 and the infrared photoelectric sensor 13 are the same, the infrared photoelectric sensor 13 and the infrared distance measuring sensor 14 are arranged in two rows, the ultrasonic distance measuring sensor is respectively arranged at the front and the back of the shell 2, the model of the infrared photoelectric sensor 13 is E18-D80NK, the model of the infrared distance measuring sensor 14 is GP2Y0A21YK infrared distance measuring sensor, the model of the ultrasonic ranging sensor is a 112KHz ultrasonic ranging sensor.

In a further optimized scheme, the first motor 5 is a direct current speed reducing motor, and the second motor 6 is a direct current brushless motor.

The following are selected for each part of the device:

1. selection of power supply 10

The voltage, discharge time and use temperature of the whole circuit system are the most basic type selection parameters. The ideal power source adopted by the device is a lithium polymer rechargeable battery. In selecting the power supply 10, the following are required:

(1) sufficient power must be provided when the devices are in a state of maximum load; (2) if it is desired that the battery reliably support the operation of the system throughout its life, the end-of-life specification of the battery should also be considered when selecting the type: the end of life occurs when the discharge of the battery is less than 80% of the rated capacity. (3) Batteries with small volume and light weight are selected as far as possible, so that energy loss is reduced, and the weight of the mower is lightened.

The battery parameters selected by the preliminary design are as follows:

TABLE 1 Battery-related parameters

2. Selection of mobile terminal (upper computer)

The choice is to use Java-based developed android apps, preferably extremely-flying AI, and a 2.4G remote control. Compared with other commonly used upper computers, such as software developed by a pc end, the computer system has the advantages of being easy to carry and use equipment, simple to operate, low in development cost and the like, and functions are easily added in the later period so as to facilitate later maintenance. The 2.4G remote controller has the advantages of simple operation, portability and the like, and compared with other communication remote controllers, the remote controller has the advantages of lower cost, more stable data transmission and low packet loss rate.

3. Selection of control module 11 (lower computer)

The stm32F407 is selected as the main control chip of the lower computer, the chip is selected to meet the performance requirement of the device, a larger re-development space is provided, the performance is not excessive, the volume production cost is low, and the requirement is met.

4. Selection of sensors

The stability, the durability and the economy of the sensors are comprehensively considered, and finally, an E18-D8NK infrared photoelectric sensor, a GP2Y0A21YK0F infrared distance measuring sensor, a 112KHZ ultrasonic obstacle avoidance distance measuring sensor and three industrial-grade sensors are selected to be matched for use, so that the safe, efficient and stable operation of the mower is guaranteed.

5. Wheel selection

The tire, as the only ground-contacting component of the entire vehicle, has the most direct effect on the dynamics and economy of the entire vehicle, NVH, steering stability, braking performance, etc. Most of the devices are applied to complicated terrains such as lawns and the like, various performances need to be considered comprehensively, and according to design requirements and general investigation on the lawn mowers in the market, a rear driving wheel 4 with the size of 23.7cm and a front driven wheel 3 with the size of 17cm are preliminarily selected, so that the lawn mowers can meet speed requirements during operation. And the wheels are made of high-quality rubber materials, so that the wheel has the advantages of lasting wear resistance and convenience in installation.

6. Selection of the blade 7

When the rotary-knife mower is matched with the rotary-knife blades of different types, a better mowing effect can be achieved on different lawns. In addition, according to the terrain and the situation of the grassland, a high-wing rotary cutter, a middle-wing rotary cutter and a low-wing rotary cutter can be selected. The material of the blade is also important and needs to be selected according to the specific application. The design requirements indicate that the preliminarily selected blade parameters are as follows:

TABLE 2 blade-related parameters

Blade material	Mounting hole size mm	Overall dimension mm
			Manganese steel	16	200301.6

The material of the blade 7 is manganese steel with the size of 200mm 30mm 1.6 mm. The use of the manganese steel blade as the blade 7 is most advantageous in terms of safety and wear resistance because the mower inevitably comes into contact with debris such as stones and branches or hard objects on the lawn during mowing, and the manganese steel blade has a small cutting edge and the blade does not break and fly out, thereby effectively preventing safety accidents.

7. Selection of an electric machine

The mower has complex working conditions in the running process, and the requirements on the driving motor are that the mower can be frequently started or stopped, accelerated or decelerated. In addition, high torque at low speed and on climbing a slope, low torque at high speed and a wide speed regulation range are also required. The model selection elements of the motor generally include: type of motor, rated voltage, mechanical characteristics, efficiency, dimensional parameters, reliability, cost, etc. On the basis of basic physical parameter shaping, the motor works in an optimal performance range by matching a driving system and an electronic control system.

The following requirements are placed on basic performance indexes of the motor:

(1) high voltage, high rotation speed and light weight. The size of the motor can be reduced by adopting high voltage and high rotating speed within an allowable range, so that the motor has smaller volume and lighter weight, the aim of light weight of the mower is fulfilled, and the cruising ability is improved; (2) a larger starting torque and a larger speed regulating range. The mower has better starting performance and speed change performance after being equipped; (3) and (4) good safety. High-voltage insulation and protection equipment is required; (4) the reliability is good, and the mower is suitable for a severe environment in the operation process; (5) simple structure, easy maintenance, low maintenance cost.

Through preliminary design and selection, the motor parameters are as follows:

TABLE 3 Motor related parameters for driving the bottom wheels

Tables 3-4 Motor related parameters for Driving the blade

In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, are merely for convenience of description of the present invention, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.

The above-described embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solutions of the present invention can be made by those skilled in the art without departing from the spirit of the present invention, and the technical solutions of the present invention are within the scope of the present invention defined by the claims.

Claims

1. The utility model provides an automatic lawn mower based on AI discernment which characterized in that: including chassis (1), the top cover on chassis (1) is equipped with shell (2), the front end of shell (2) is equipped with from the driven wheel subassembly, the rear end of shell (2) is equipped with the drive wheel subassembly, the bottom on chassis (1) is equipped with blade subassembly, be equipped with control module (11) on the top surface on chassis (1), drive wheel subassembly, blade subassembly respectively with control module (11) electric connection, control module (11) electric connection has sensor assembly, sensor assembly sets up on shell (2), control module (11) signal connection has the removal end, it is used for AI discernment obstacle to remove the end.

2. The AI identification-based robotic lawnmower according to claim 1, wherein: the driven wheel assembly comprises two front driven wheels (3) which are symmetrically arranged, the two front driven wheels (3) are respectively connected to two opposite side walls of the shell (2) in a shaft mode, the driving wheel assembly comprises two rear driving wheels (4) which are symmetrically arranged, a transmission shaft of each rear driving wheel (4) penetrates through the side wall of the shell (2) and is fixedly connected with an output shaft of a first motor (5), the two first motors (5) are respectively fixed to the two opposite side walls of the shell (2), the first motors (5) are located on the inner side of the shell (2), and the front driven wheels (3) and the rear driving wheels (4) are arranged in the same direction;

the blade assembly comprises a plurality of second motors (6) fixed on the top surface of the chassis (1), and output shafts of the second motors (6) penetrate through the chassis (1) and are fixed with blades (7);

the first motor (5) and the second motor (6) are respectively electrically connected with the control module (11).

3. The AI identification-based robotic lawnmower according to claim 2, wherein: blade (7) are the rectangle structure, two relative long limits all are provided with cutting edge (8) on blade (7), two cutting edge (8) centrosymmetry, pilot hole (9) have been seted up at the center of blade (7), second motor (6) are passed through pilot hole (9) with blade (7) rigid coupling.

4. The AI identification-based robotic lawnmower according to claim 2, wherein: a power supply (10) is fixed on the chassis (1), and the power supply (10) is electrically connected with the first motor (5), the second motor (6) and the control module (11).

5. The AI identification-based robotic lawnmower according to claim 2, wherein: the first motor (5) and the second motor (6) are electrically connected with the control module (11) through motor driving plates (12) respectively.

6. The AI identification-based robotic lawnmower according to claim 1, wherein: the sensor assembly is embedded in the shell (2), and the probe end of the sensor assembly extends out of the surface of the shell (2).

7. The AI recognition based robotic lawnmower of claim 6, wherein: the sensor assembly comprises an infrared photoelectric sensor (13), an infrared distance measuring sensor (14) and an ultrasonic distance measuring sensor, wherein the infrared photoelectric sensor (13), the infrared distance measuring sensor (14) and the ultrasonic distance measuring sensor are respectively electrically connected with the control module (11).

8. The AI identification-based robotic lawnmower according to claim 2, wherein: the first motor (5) is a direct current speed reduction motor, and the second motor (6) is a direct current brushless motor.

9. The AI identification-based robotic lawnmower according to claim 1, wherein: the control module (11) is a stm32 main control chip.