CN218072454U - Unmanned system of crawler-type lawn mower and lawn mower - Google Patents
Unmanned system of crawler-type lawn mower and lawn mower Download PDFInfo
- Publication number
- CN218072454U CN218072454U CN202221278617.6U CN202221278617U CN218072454U CN 218072454 U CN218072454 U CN 218072454U CN 202221278617 U CN202221278617 U CN 202221278617U CN 218072454 U CN218072454 U CN 218072454U
- Authority
- CN
- China
- Prior art keywords
- unmanned
- antenna
- mower
- crawler
- control terminal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Guiding Agricultural Machines (AREA)
Abstract
The utility model discloses a crawler-type mower unmanned system, which comprises an unmanned control terminal, a RTK high-precision antenna and a 4G antenna which are all arranged on a crawler-type mower body, and a handheld electronic device which is in wireless communication with the unmanned control terminal through a 4G network; and the RTK high-precision antenna and the 4G antenna are both connected with the unmanned control terminal through electric signals. The utility model discloses realize crawler-type lawn mower's unmanned operation, not only can improve the precision of mowing, improve weeding efficiency, still reduce operating personnel's intensity of labour, practice thrift the cost.
Description
Technical Field
The utility model belongs to the technical field of the lawn mower, a crawler-type lawn mower unmanned system and lawn mower is related to.
Background
The crawler-type mower has a large variety, plays a significant role in weeding and reclaiming wasteland due to high power and strong power, and is widely applied to scenes such as airports, court, wasteland reclaiming, orchards, parks and the like.
The existing crawler-type mower is controlled by manual remote control operation in the weeding process, and the mode has the following problems: 1. the remote control operation is complex, the transmission distance of remote control signals is limited, and the work of workers along with the crawler-type mower is required; 2. after the manual control is carried out for a long time, the high-precision working requirement is difficult to achieve, the crawler-type mower inevitably has driving deviation, so that the crawler-type mower has missed cutting or repeated operation, the efficiency is low, and the production cost and the labor cost are directly increased; 3. particularly, when weeding is performed in a forest land, an orchard or a region with a large gradient, a large number of obstacles are generated, people are difficult to walk, and the working mode of the crawler-type mower is very difficult.
Disclosure of Invention
In order to overcome not enough in the background art, the utility model provides a crawler-type lawn mower unmanned system, aim at sets up unmanned system on crawler-type lawn mower, realizes crawler-type lawn mower's unmanned operation, not only can improve the precision of mowing, reduces the repetitive operation, can also improve the standardization degree of mowing, improves weeding efficiency, reduction in production cost reduces operating personnel's intensity of labour, practices thrift the human cost.
In order to achieve the above object, the utility model provides a following technical scheme:
a crawler-type mower unmanned system comprises an unmanned control terminal, an RTK high-precision antenna, a 4G antenna and handheld electronic equipment, wherein the unmanned control terminal, the RTK high-precision antenna and the 4G antenna are arranged on a crawler-type mower body, and the handheld electronic equipment is in wireless communication with the unmanned control terminal through a 4G network; the RTK high-precision antenna and the 4G antenna are both in electric signal connection with the unmanned control terminal;
the 4G antenna is installed at the top of the crawler-type mower and used for establishing wireless communication between the unmanned control terminal and the handheld electronic equipment;
the RTK high-precision antenna is mounted on a top central axis of the crawler-type mower body and used for providing azimuth information of the crawler-type mower body for the unmanned control terminal;
a control program is arranged in the handheld electronic equipment and used for editing a working instruction including a path plan and sending the working instruction to the unmanned control terminal through the 4G antenna;
the unmanned control terminal is internally integrated with an unmanned controller and a navigation device; the unmanned controller is in electric signal connection with a vehicle control unit VCU, and the vehicle control unit VCU is used for controlling the walking and mowing operation of the crawler-type mower according to instructions of the unmanned controller; and the navigation device is used for guiding the crawler-type mower to carry out mowing operation according to a planned path according to the received work instruction and the azimuth information.
As an optimized technical scheme, the system also comprises a laser radar; the laser radar is installed at the top of the front end of the crawler mower and used for scanning obstacles in front of the mower body and transmitting obstacle information to the unmanned control terminal; the unmanned control terminal is further used for revising a planned path according to the received obstacle information and controlling the crawler-type mower to avoid the obstacle; and the unmanned controller respectively carries out data interaction with a vehicle control unit VCU and a laser radar through two Can communication interfaces.
As an optimized technical scheme, the navigation device is a combined navigation device and comprises an inertial navigation device used for providing attitude information and a GNSS device used for providing position information.
As an optimized technical scheme, the RTK high-precision antenna comprises two antennas which are arranged in a front-back mode, wherein the rear antenna is a main antenna used for receiving satellite positioning information, and the front antenna is an auxiliary antenna used for providing body direction information.
As an optimized technical scheme, in order to prevent adjacent antennas from interfering with each other when transmitting signals, the adjacent antennas should have a spacing distance of more than one meter. The distance between the front antenna and the rear antenna is larger than one meter.
As an optimized technical scheme, the handheld electronic device is any one of a mobile phone or a tablet computer; preferably, the control program is an APP installed in the mobile phone.
The utility model also provides an unmanned crawler-type lawn mower, unmanned crawler-type lawn mower includes above arbitrary one crawler-type lawn mower unmanned system.
Compared with the prior art, the beneficial effects of the utility model are that:
(1) The remote control mode based on 4G communication greatly improves the transmission distance of wireless signals, lays a foundation for the over-the-horizon remote control operation of the crawler mower, and also lays a foundation for the control by using a 4G mobile phone;
(2) The handheld electronic equipment has the advantages of intellectualization and convenient carrying, and not only can simplify remote control operation through an intellectualized control program, but also is convenient for workers to carry;
(3) Based on an RTK positioning technology, enough positioning accuracy can still be kept within a range of 10km, so that the crawler-type mower still has high accuracy when working for a long time or a long distance, the straight line accuracy can reach +/-2.5 cm, the driving deviation is reduced, and missing cutting or repeated operation is avoided;
(4) When the crawler-type mower is equipped with the laser radar, obstacles such as pedestrians and fruit trees in the orchard can be detected, and therefore adaptability of working in complex environments such as forest lands and orchards is improved.
(5) The combined navigation mode ensures the navigation precision, makes the measured value redundant and improves the reliability of the whole system.
The utility model discloses realize crawler-type lawn mower's unmanned operation, not only can improve the precision of mowing, reduce the repetitive operation, can also improve the standardization level of mowing, improve weeding efficiency, reduction in production cost reduces operating personnel's intensity of labour, practices thrift the human cost.
Drawings
Fig. 1 is a schematic view of a connection structure of an unmanned system according to embodiment 1 of the present invention;
fig. 2 is a flowchart of the operation of the unmanned system according to embodiment 1 of the present invention.
In the figure: the method comprises the following steps of 1, a client mobile phone, 2, an unmanned control terminal, a 3RTK high-precision antenna, a 4G antenna, 5 laser radars and 6 of a vehicle control unit VCU; wherein the arrows indicate the electrical signal transmission direction of the two components connected to each other.
Detailed Description
The technical solutions in the embodiments of the present invention will be described below clearly and completely in conjunction with the drawings of the present invention, and it is obvious that the described embodiments are only some of the preferred embodiments of the present invention, not all of the embodiments. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and are not intended to limit the scope of the present invention. In the description of the present invention, it is to be understood that the terms "length", "width", "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, and are merely for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. In addition, in the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.
Example 1: please refer to fig. 1-2;
the utility model provides a following technical scheme: a crawler-type mower unmanned system, please refer to fig. 1, comprises a client mobile phone 1 installed with a special APP, an unmanned control terminal 2 (integrating an unmanned controller and a combined navigation), an RTK high-precision antenna 3, a 4G antenna 4 and a laser radar 5; the client mobile phone 1 is used for issuing tasks to the mower, controlling various movements of the mower (replacing a remote control function) and checking working conditions of the mower; the unmanned control terminal 2 integrates a combined navigation function, is used for receiving signals of a perception sensor laser radar 5 and a 4G communication function, and is also responsible for communication with a vehicle control unit VCU 6; the RTK high-precision antenna 3 is used for acquiring the positioning and orientation information of the mower; the laser radar 5 is used for acquiring environmental information in front of the mower and sensing obstacles.
The client mobile phone 1 is used for setting an operation area and issuing a task to the unmanned control terminal 2 through a 4G network, the unmanned control terminal 2 is respectively in data interaction with the vehicle control unit VCU 6 and the laser radar 5 through two Can communication interfaces, and the RTK is connected to a corresponding port of the unmanned control terminal 2 through a wiring harness at high precision; in addition, in a non-unmanned driving mode, the mower can be correspondingly controlled (replacing a remote control function) through the client mobile phone 1, such as advancing, retreating, header lifting and the like; vehicle information such as oil quantity, speed per hour and the like can be checked through the interface of the vehicle information display device.
The unmanned system hardware of the crawler-type mower of the present embodiment includes: the system comprises an unmanned control terminal 2, an RTK high-precision antenna 3, a 4G antenna 4 and a laser radar 5; the unmanned control terminal 2 is fixed on a vehicle body through screws, the RTK high-precision antenna 3 is stably installed on a top central axis of the mower through strong magnets or 3M strong glue, the two antennas are arranged in a front-back mode, the distance between the two antennas is larger than 1 meter, the rear antenna provides satellite positioning information for the main antenna, and the front antenna provides direction information for the auxiliary antenna; according to the embodiment, the attitude information provided by the inertial navigation device is combined with the position attitude information provided by the GNSS, so that the high accuracy of the attitude information can be kept for a long time, and reliable guarantee is provided for the deviation rectification control of the control terminal; the 4G antenna 4 is arranged at the top of the crawler-type mower, cannot be shielded, is connected with the unmanned control terminal 2, and receives a communication instruction of the client mobile phone 1; the laser radar 5 is installed at the top of the front end of the mower, is connected with the unmanned control terminal 2 and is used for scanning information of obstacles such as pedestrians and garbage cans in front, and therefore the control terminal can plan a path to avoid the obstacles.
It should be noted that the present embodiment is described only in terms of the principles of the present system, and that details such as a base station for establishing 4G communication, a power supply for driving electrical signal components for operation, a differential base station for differential positioning, an electronic control system for controlling steering and braking of a track mower, etc., are not omitted herein, but rather, are not related to the principles of operation of the present system and are prior art and are not described in detail herein.
During operation, referring to fig. 2, in a workflow, a client mobile phone 1 serving as a handheld electronic device is opened, the unmanned control terminal 2 is connected through a 4G network, and after an operation area is selected, an optimal operation path, a starting point and a trimming path are automatically calculated and then sent to the unmanned control terminal 2; the crawler-type mower is remotely controlled to be started to the starting point in the operation area, and automatic operation can be carried out by switching to the unmanned mode; in the operation process, obstacles (such as pedestrians, fruit trees and the like in an orchard) can be detected through the laser radar 5 arranged at the top in front, so that obstacle avoidance operation is realized; in the operation process, the unmanned control terminal 2 sends an instruction to a VCU of the whole mower at regular time, checks state data such as the speed per hour and the oil mass of the mower, and displays the state data through an APP interface, so that an operator can conveniently check the real-time working condition of the mower; after the regional operation is finished, the mower automatically stops at the path end point, the operation data is automatically stored, and the post-checking and calling are facilitated.
In addition, the mower can be switched to a non-unmanned driving mode in a non-working area, the front and back movement, the left and right movement, the lifting of the header and other operations of the mower are controlled through the APP interface, remote control operation is replaced, and signals are more stable and are not limited by distance through 4G network communication.
According to the unmanned system of the crawler-type mower, the linear precision can reach +/-2.5 cm, and the operation efficiency is effectively improved; after installing unmanned system additional, not only saved cost and labour, also can use under adverse circumstances moreover, the error can not increase yet.
The detailed part of the utility model is the prior art; for a person skilled in the art, various technical features of the embodiments described above may be combined arbitrarily, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, however, as long as there is no contradiction between the combinations of the technical features, the combinations should be considered as the scope of the present description. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. The utility model provides a crawler-type lawn mower unmanned driving system which characterized in that: the system comprises an unmanned control terminal (2), an RTK high-precision antenna (3), a 4G antenna (4) and a handheld electronic device (1), wherein the unmanned control terminal, the RTK high-precision antenna and the 4G antenna are arranged on a crawler-type mower body, and the handheld electronic device is in wireless communication with the unmanned control terminal (2) through a 4G network; the RTK high-precision antenna (3) and the 4G antenna (4) are in electric signal connection with the unmanned control terminal (2);
the 4G antenna (4) is used for establishing wireless communication between the unmanned control terminal (2) and the handheld electronic equipment (1);
the RTK high-precision antenna (3) is used for providing the orientation information of the crawler-type mower body for the unmanned control terminal (2);
a control program is arranged in the handheld electronic equipment (1) and used for editing a working instruction including a path plan and sending the working instruction to the unmanned control terminal (2) through the 4G antenna (4);
an unmanned controller and a navigation device are integrated in the unmanned control terminal (2); the unmanned controller is in electrical signal connection with a vehicle control unit VCU (6), and the vehicle control unit VCU (6) is used for controlling the walking and mowing operation of the crawler-type mower according to the instruction of the unmanned controller; and the navigation device is used for guiding the crawler-type mower to carry out mowing operation according to a planned path according to the received working instruction and the azimuth information.
2. The tracked mower drone system of claim 1, wherein: also includes a laser radar (5); the laser radar (5) is used for scanning obstacles in front of the machine body and transmitting the obstacle information to the unmanned control terminal (2); the unmanned control terminal (2) is also used for controlling the crawler-type mower to avoid the obstacle according to the received obstacle information; and the unmanned controller respectively carries out data interaction with a vehicle control unit VCU (6) and a laser radar (5) through two Can communication interfaces.
3. A tracked mower drone system according to claim 1, characterised in that: the navigation device is an integrated navigation device comprising an inertial navigation device for providing attitude information and a GNSS device for providing position information.
4. A tracked mower drone system according to claim 1, characterised in that: the RTK high-precision antenna (3) comprises two antennas which are arranged in the front and the back, wherein the rear antenna is used for receiving a main antenna of satellite positioning information, and the front antenna is used for providing an auxiliary antenna of body direction information.
5. A tracked mower unmanned system according to claim 4, wherein: the distance between the front antenna and the rear antenna is larger than one meter.
6. The tracked mower drone system of claim 1, wherein: the handheld electronic equipment (1) is a mobile phone, and the control program is an APP program installed in the mobile phone.
7. The utility model provides an unmanned crawler-type lawn mower which characterized in that: the unmanned lawnmower comprising a lawnmower unmanned system according to any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221278617.6U CN218072454U (en) | 2022-05-26 | 2022-05-26 | Unmanned system of crawler-type lawn mower and lawn mower |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221278617.6U CN218072454U (en) | 2022-05-26 | 2022-05-26 | Unmanned system of crawler-type lawn mower and lawn mower |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218072454U true CN218072454U (en) | 2022-12-20 |
Family
ID=84461265
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221278617.6U Active CN218072454U (en) | 2022-05-26 | 2022-05-26 | Unmanned system of crawler-type lawn mower and lawn mower |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN218072454U (en) |
-
2022
- 2022-05-26 CN CN202221278617.6U patent/CN218072454U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP3540552B1 (en) | Automatic work system and control method therefor | |
| CN109717175B (en) | Intelligent self-walking type spraying system for orchard and control method thereof | |
| CN108628314B (en) | Multi-machine cooperation lawn trimming robot system and method | |
| CN106843277B (en) | Unmanned aerial vehicle surveying and mapping, pesticide spraying and monitoring combined operation method and system | |
| US20160091898A1 (en) | Intelligent Control Apparatus, System, and Method of Use | |
| EP3465093A1 (en) | System and method for scouting vehicle mapping | |
| EP3444694A1 (en) | Automatic working system, mobile device, and control method therefor | |
| CN113647262B (en) | Tree geometric shaping and trimming robot system and operation method thereof | |
| CN113128747B (en) | Intelligent mowing system and autonomous image building method thereof | |
| CN112113565A (en) | Robot positioning system for agricultural greenhouse environment | |
| CN205180165U (en) | Beidou navigation locating pesticide sprays control system | |
| CN111176282A (en) | Method and system for setting boundary and self-walking equipment | |
| AU2017101299A4 (en) | Innovated drone system with RTK technology to boost up efficiency for Agriculture industry, crop dusting, fertilizing , mapping, recording. | |
| CN205450777U (en) | Automatic change plant protection system | |
| EP4020112A1 (en) | Robotic mower and control method thereof | |
| CN113848208B (en) | Plant phenotype platform and control system thereof | |
| US20230320247A1 (en) | Communication system for agricultural machine | |
| CN111903313A (en) | Intelligent mower and control method thereof | |
| CN218072454U (en) | Unmanned system of crawler-type lawn mower and lawn mower | |
| CN112731934B (en) | Method for quickly returning intelligent mower to charging station based on region segmentation | |
| CN205540281U (en) | Quick -witted system of many rotors plant protection of independently flying based on differential positioning | |
| EP4206849A1 (en) | Autonomous mobile device and method for controlling same | |
| US20220382291A1 (en) | Route Generation Method, Route Generation Device, and Route Generation Program | |
| WO2021139685A1 (en) | Automatic operation system | |
| CN113491180A (en) | Garden operation robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |