CN215991960U - Mower capable of automatically planning path - Google Patents
Mower capable of automatically planning path Download PDFInfo
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- CN215991960U CN215991960U CN202121103639.4U CN202121103639U CN215991960U CN 215991960 U CN215991960 U CN 215991960U CN 202121103639 U CN202121103639 U CN 202121103639U CN 215991960 U CN215991960 U CN 215991960U
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- machine body
- driving
- cutting
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- range finding
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- 230000007246 mechanism Effects 0.000 claims abstract description 52
- 238000001514 detection method Methods 0.000 claims abstract description 37
- 238000004146 energy storage Methods 0.000 claims abstract description 9
- 238000009333 weeding Methods 0.000 claims description 23
- 238000009966 trimming Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 230000002093 peripheral effect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 241000196324 Embryophyta Species 0.000 description 1
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 238000013138 pruning Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000000844 transformation Methods 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
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Abstract
The application relates to the technical field of lawn mowers, especially, relate to a lawn mower of automatic planning route, its technical scheme is: the cutting machine comprises a machine body, a cutting mechanism, a driving mechanism, a detection mechanism and an energy storage mechanism, wherein the machine body is arranged in a hollow manner; the cutting mechanism is arranged at the bottom of the machine body and comprises a cutting piece for cutting the lawn; the driving mechanism comprises a driving assembly for driving the cutting piece to rotate and a moving piece for driving the machine body to move; the detection mechanism comprises a master controller and an environment detection module, the detection mechanism further comprises an image acquisition module for collecting external images, the energy storage mechanism is used for providing electric energy for the driving mechanism and the detection machine body, and the energy storage mechanism comprises a battery box and a plurality of battery packs arranged in the battery box. This application has the work efficiency that improves the lawn mower for the function that the lawn mower realized automatic mowing.
Description
Technical Field
The utility model relates to the technical field of mowers, in particular to a mower capable of automatically planning a path.
Background
A lawn mower is a mechanical tool used to trim lawns, vegetation, and the like.
The lawn mower is widely used outdoors, the existing lawn mower drives the cutter bar to rotate through the motor, the lawn is trimmed by utilizing the cutter bar which rotates at a high speed, but the existing lawn mower still adopts control, and the lawn mower cannot independently finish the cutting treatment of the lawn, so that the working efficiency of the whole lawn mower is reduced.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problem, the utility model provides a mower capable of automatically planning a path.
The utility model relates to a mower capable of automatically planning a path, which adopts the technical scheme that the technical problem is solved by the mower comprising the following steps:
the device comprises a machine body, wherein the machine body is arranged in a hollow manner;
the cutting mechanism is arranged at the bottom of the machine body and comprises a cutting piece for cutting the lawn;
the driving mechanism comprises a driving assembly for driving the cutting piece to rotate and a moving piece for driving the machine body to move;
the detection mechanism comprises a master controller and an environment detection module, and also comprises an image acquisition module for collecting external images,
the energy storage mechanism is used for providing electric energy for the driving mechanism and the detection machine body, and comprises a battery box and a plurality of battery packs arranged in the battery box.
Preferably, the mowing mechanism further comprises a motor driver cabinet for installing the mowing piece, and the driving assembly is arranged as a weeding motor;
the cutting member includes the weeding tool bit, the weeding tool bit sets up, be equipped with the weeding through-hole in motor driver cabinet's the bottom, the weeding tool bit sets up in motor driver cabinet bottom.
Preferably, the master controller is set as an industrial personal computer, the environment detection module is set as an environment sensing laser radar, the machine body is provided with a detection seat for the environment detection module to mount and process, and the environment sensing laser radar is arranged at the top of the detection seat;
the image acquisition module is set as a depth pattern sensor, the depth pattern sensor is arranged on the side wall of the detection seat, and the environment sensing laser radar and the depth pattern sensor are both connected with an industrial personal computer;
the detection mechanism further comprises a plurality of positioning pieces, wherein the positioning pieces are fixedly arranged at the top of the machine body, and the positioning pieces are provided with a plurality of positioning pieces.
Preferably, detection mechanism still includes the range finding subassembly, the range finding subassembly includes range finding sensor and range finding frame, range finding sensor all is provided with a plurality ofly with the range finding frame, and is a plurality of the range finding frame sets up in body lateral wall bottom, the range finding sensor connects total controller.
Preferably, the movable element comprises crawler belts arranged on two sides of the machine body and a plurality of crawler belts driving the crawler wheels to rotate, and the movable element further comprises a driving motor arranged in the machine body and driving the crawler wheels to rotate.
Preferably, the outer side wall of the crawler wheel is wave-shaped;
the bottom of the machine body is provided with a chassis, the machine body is provided with an adjusting assembly used for adjusting the height of the chassis, and the adjusting assembly comprises an electric cylinder.
The utility model has the advantages that:
1. the driving mechanism is used for driving the cutting mechanism to rotate, so that the weeding cutter head can rotate quickly to complete the function of trimming the lawn, and meanwhile, the moving part is used for driving the whole machine body to move, so that the machine body can move on the lawn automatically, and the function of trimming the lawn continuously and automatically is further realized;
2. the detection mechanism detects and processes the environment on the peripheral side of the machine body, a laser radar is sensed by the environment to obtain lawn map signals, a depth graphic sensor obtains topographic signals on the peripheral side of the machine body and transmits the signals to the master controller, and the master controller is used for calculating the collected data, a odometer on a program layer and a relative coordinate system so as to obtain three-dimensional map data of the peripheral environment, wherein the three-dimensional map data comprises a path, a walking range, an impassable range and an obstacle outline of the mower which has walked; the processed three-dimensional triangular patch data and the color data corresponding to the point cloud data sequentially form the mower capable of automatically planning the route, and the characteristics of improving the efficiency of the mower and intellectualization of the mower are achieved.
Drawings
FIG. 1 is a schematic overall structure diagram of an embodiment of the present application;
FIG. 2 is a bottom view of the overall structure of an embodiment of the present application;
FIG. 3 is a rear view of FIG. 1;
wherein, 1, the body; 2. cutting the piece; 3. a movable member; 4. a master controller; 5. a battery box; 7. a motor driver cabinet; 8. a weeding cutter head; 9. weeding through holes; 11. an environmental perception lidar; 12. a detection seat; 13. a depth pattern sensor; 14. a positioning member; 15. an RTK locator; 16. a ranging assembly; 17. a ranging sensor; 18. a distance measuring frame; 19. a crawler belt; 20. a track wheel.
Detailed Description
For the purpose of enhancing the understanding of the present invention, the present invention will be described in further detail with reference to the accompanying drawings and examples, which are provided for the purpose of illustration only and are not intended to limit the scope of the present invention.
Examples
Example (b):
referring to fig. 1 and 2, a lawn mower capable of automatically planning a path disclosed in an embodiment of the present application includes a machine body 1, a cutting mechanism configured to cut a lawn, a driving mechanism configured to drive the cutting mechanism to operate, a detection assembly configured to detect an external environment, and an energy storage mechanism configured to provide electric energy to the driving mechanism, where the cutting mechanism is disposed in the machine body 1. Utilize actuating mechanism drive cutting mechanism to rotate, accomplish the pruning processing to the lawn, actuating mechanism drives organism 1 and removes simultaneously, realizes the automatic weeding function in lawn.
An organism 1: the machine body 1 is hollow, so that the driving mechanism and the energy storage mechanism can be conveniently installed, and the overall quality of the mower is reduced;
the cutting mechanism comprises: the cutting mechanism is arranged at the bottom of the machine body 1 and used for cutting the lawn, the cutting mechanism comprises a motor driver cabinet 7 and a cutting piece 2, the cutting piece 2 is arranged at the bottom of the motor driver cabinet 7, the cutting piece 2 is provided with a weeding cutter head 8, and the rotary weeding cutter head 8 is used for trimming the lawn;
actuating mechanism, actuating mechanism include the drive and weed 8 pivoted drive assembly of tool bit, and drive assembly sets up to the weeding motor, and the weeding motor sets up in motor driver cabinet 7, and the setting of weeding electric tool bit is equipped with the weeding through-hole 9 that supplies the weeding motor shaft to wear to establish in the pivot of weeding motor in motor driver cabinet 7's bottom plate. The driving mechanism further comprises a moving part 3 for driving the whole machine body 1 to move, the moving part 3 comprises a plurality of crawler belts 19 and crawler wheels 20 which are arranged on two sides of the machine body 1, and the crawler belts 19 are sleeved on the crawler wheels 20. The moving part 3 further comprises a driving motor for driving the plurality of crawler wheels 20 to rotate, the crawler wheels 20 are driven by the driving motor to rotate, the crawler wheels 20 drive the crawler belt 19 to actively rotate, so that the effect of automatically moving the machine body 1 is achieved, the machine body 1 is automatically moved, and the effect of automatically trimming the lawn is achieved.
Referring to fig. 2 and 3, a detection mechanism for detecting an external environment signal of the body 1 and a position signal. The detection mechanism comprises an environment detection module, an image acquisition module, a positioning part 14, a distance measurement assembly 16 and a master controller 4, wherein the environment detection module, the image acquisition module, the positioning part 14 and the distance measurement assembly 16 are all connected with the master controller 4. The master controller 4 is set as an industrial personal computer.
The environment detection module is set as environment sensing laser radar 11, the environment sensing laser radar 11 carries out two-dimensional environment on the lawn outside the machine body 1, and signals are transmitted to the master controller 4. The machine body 1 is provided with a detection seat 12 for installing an environment detection module, and an environment sensing laser radar 11 is fixedly arranged at the top of the detection seat 12.
The image acquisition module is set as a depth pattern sensor 13, the depth pattern sensor 13 acquires signals of depth point cloud information outside the machine body 1 and transmits the acquired depth point cloud information to the master controller 4, and the depth pattern sensor 13 is arranged on the side wall of the detection seat 12.
The positioning member 14 is provided as an RTK positioning instrument 15 for acquiring positioning data of the machine body 1 and transmitting the overall controller 4.
The distance measuring assembly 16 is provided as a distance measuring sensor 17 for obtaining the distance between the machine body 1 and the ground so as to control the mowing height. The distance measuring assembly 16 further comprises a distance measuring frame 18 arranged on the side wall of the machine body 1, the distance measuring sensors 17 are multiple, and the distance measuring sensors 17 are arranged on the side wall of the distance measuring frame 18.
The energy storage mechanism is used for providing electric energy to enable the driving mechanism to be in a continuous working state, the energy storage mechanism comprises a washing box, and a plurality of battery packs providing the electric energy are arranged in the battery box 5. Be equipped with the adjusting part who is used for adjusting the chassis height in the organism 1, adjusting part includes electric cylinder, utilizes electric cylinder to adjust organism 1's diapire height, and then makes weeding tool bit 8 be in not co-altitude and carry out work.
The above embodiments should not limit the present invention in any way, and all technical solutions obtained by using equivalent alternatives or equivalent transformations fall within the protection scope of the present invention.
Claims (6)
1. A lawnmower with an automatically planned path, comprising: comprises that
The device comprises a machine body (1), wherein the machine body (1) is arranged in a hollow manner;
the cutting mechanism is arranged at the bottom of the machine body (1) and comprises a cutting piece (2) for cutting the lawn;
the driving mechanism comprises a driving component for driving the cutting piece (2) to rotate and also comprises a moving piece (3) for driving the machine body (1) to move;
the detection mechanism comprises a master controller (4) and an environment detection module, and also comprises an image acquisition module for collecting external images,
the energy storage mechanism is used for providing electric energy for the driving mechanism and the detection machine body (1), and comprises a battery box (5) and a plurality of battery packs arranged in the battery box (5).
2. A lawnmower with automatic path planning according to claim 1, characterized in that: the mowing mechanism further comprises a motor driver cabinet (7) for installing a mowing piece, and the driving component is arranged to be a weeding motor;
cutting member (2) are including weeding tool bit (8), weeding tool bit (8) set up, be equipped with weeding through-hole (9) in the bottom of motor driver cabinet (7), weeding tool bit (8) set up in motor driver cabinet (7) bottom.
3. A lawnmower with automatic path planning according to claim 1, characterized in that: the main controller (4) is set as an industrial personal computer, the environment detection module is set as an environment sensing laser radar (11), a detection seat (12) for the environment detection module to be installed and processed is arranged on the machine body (1), and the environment sensing laser radar (11) is arranged at the top of the detection seat (12);
the image acquisition module is a depth pattern sensor (13), the depth pattern sensor (13) is arranged on the side wall of the detection seat (12), and the environment sensing laser radar (11) and the depth pattern sensor (13) are both connected with an industrial personal computer;
the detection mechanism further comprises a positioning part (14), the positioning part (14) is fixedly arranged at the top of the machine body (1), and the positioning part (14) is provided with a plurality of positioning parts (14).
4. A lawnmower with automatic path planning according to claim 3, characterized in that: detection mechanism is still including range finding subassembly (16), range finding subassembly (16) are including range finding sensor (17) and range finding frame (18), range finding sensor (17) all are provided with a plurality ofly with range finding frame (18), and are a plurality of range finding frame (18) set up in organism (1) lateral wall bottom, range finding sensor (17) are connected total controller (4).
5. A lawnmower with automatic path planning according to claim 4, characterized in that: the moving part (3) comprises crawler belts (19) arranged on two sides of the machine body (1) and a plurality of crawler belts (19) driving wheels of the crawler belts (19) to rotate, and the moving part (3) further comprises a driving motor arranged in the machine body (1) and driving the wheels of the crawler belts (19) to rotate.
6. A lawnmower with automatic path planning according to claim 5, characterized in that: the outer side wall of the crawler belt (19) wheel is wave-shaped;
the bottom of the machine body (1) is provided with a chassis, the machine body (1) is provided with an adjusting assembly used for adjusting the height of the chassis, and the adjusting assembly comprises an electric cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121103639.4U CN215991960U (en) | 2021-05-21 | 2021-05-21 | Mower capable of automatically planning path |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121103639.4U CN215991960U (en) | 2021-05-21 | 2021-05-21 | Mower capable of automatically planning path |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215991960U true CN215991960U (en) | 2022-03-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121103639.4U Expired - Fee Related CN215991960U (en) | 2021-05-21 | 2021-05-21 | Mower capable of automatically planning path |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215991960U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116472848A (en) * | 2023-03-01 | 2023-07-25 | 深圳森合创新科技有限公司 | Mowing robot |
-
2021
- 2021-05-21 CN CN202121103639.4U patent/CN215991960U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116472848A (en) * | 2023-03-01 | 2023-07-25 | 深圳森合创新科技有限公司 | Mowing robot |
| CN116472848B (en) * | 2023-03-01 | 2024-04-26 | 深圳森合创新科技有限公司 | Mowing robot |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20220311 |