TW201817306A - Automatic mowing robot capable of adjusting the height and leftward/rightward swing range for mowing according to the actual requirement - Google Patents

Abstract

An automatic mowing robot comprises: a driving module, a mowing module, an obstacle avoiding module, a path planning and navigation module, and a control module. The driving module is controlled by the control module and the path planning and navigation module to drive the mowing robot to move to a designated site for mowing. The obstacle avoiding module determines whether there are obstacles existed on a path or within a working range. The mowing module is operable to adjust the height and leftward/rightward swing range for mowing according to the actual requirement, so as to perform a mowing operation without the need of human labor.

Description

   Automatic mowing robot   

The invention relates to an automatic mowing robot, in particular to a robot that operates wirelessly and does not require manpower to perform mowing operations, in order to avoid the sun and allergies caused by mowing operations and to protect workers' lives.

Press, in order to beautiful the environment and avoid the breeding of disease-borne vector insects, the cleaning staff needs to regularly weed. Except for the grass, most of the environment has high and low levels, and we must cut the grass by manpower. And hand-held lawn mowers cut weeds.

However, conventional lawn mowers have the following disadvantages:

1. Conventional structures require manpower to perform mowing operations, and lawn mowers have a certain weight, and most of the mowing operations are selected under good weather conditions, and the weight of the implement and the sun are quite physically demanding for the user.

2. As mentioned above, since the conventional lawn mowers are operated by humans, the weeds and stones that are cut off may splash onto the human body, causing the user's physical allergies and injuries.

3. As the mowing operations are performed by manpower, when the mowing operations are carried out on the expressway or expressway, if the driver does not pay attention to the people performing mowing operations in front, traffic accidents will occur, which is quite dangerous.

4. Most conventional lawn mowers need gasoline to make the engine run, and the noise and exhaust gas caused by the engine are harmful to the human body and the environment.

The main object of the present invention is to provide an automatic lawn mower robot, which sets a lawn mower path and a lawn mower range through a remote end, and the lawn mower robot recognizes a working environment through image processing of a photographing unit, and changes the height of the lawn mower and the amplitude of left and right swing. Structures that can save the use of manpower and avoid splashed weeds and stones that may be sprayed on the human body, causing the user's physical allergies and injuries.

The structure that can achieve the above purpose mainly includes: a driving module including a driver, which is driven by the driver to cause displacement of the automatic mowing robot; a mowing module that includes a frame, a mowing It is composed of a grass cutter, a lifting device, a rotating device and a swing amplitude adjusting device. The grass cutting tool is installed on the frame. The grass cutting tool is provided with a guide bar. The lifting device and the lifting device are arranged below the frame. The rotating device, the lifting device is used to control the cutting tool height, and the rotating device uses a four-link mechanism to control the cutting tool to produce left and right rotation and swing effects, and the swing amplitude adjusting device is used to control the cutting tool A left-right swing range; an obstacle avoidance module, which includes a photographing unit and an ultrasonic unit, which determine the height of the mowing and the left-right swing range of the mowing tool through an image to determine whether there are obstacles in the surroundings and the working environment. Size, the ultrasonic unit generates an ultrasonic wave, if it receives a reflected wave, it determines that there are obstacles around it, and guides the The mowing robot avoids obstacles; a path planning and navigation module includes a GPS system and a navigation unit, the GPS system is used to determine the location of the automatic mowing robot, and the navigation unit provides coordinate path planning for the work area; A control module is electrically connected with the driving module, the mowing module, the obstacle avoidance module, and the path planning and navigation module, and the automatic mowing robot is controlled by the control module to perform weeding operations.

Through the above structure, the advantages obtained by the present invention are briefly described as follows:

1. The main operation of the present invention is to operate the mowing robot remotely. The driving module is controlled by the control module and the path planning navigation module to drive the mowing robot to the designated mowing position. The obstacle avoidance module determines the route and Whether there are obstacles in the working range, and the mowing module can adjust the mowing height, change the amplitude of mowing left and right, and avoid obstacles, so that no manpower is required for mowing.

2. The control module further includes a wireless transmission module and a remote control device. The wireless transmission module is used to receive instructions from the remote control device, and then instruct the mowing robot to go to the work area to perform mowing operations. .

3. The lifting device is constituted by a lifting motor and a screw, and the screw is driven by the lifting motor to generate vertical movement, so that the mowing tool has a lifting effect.

4. The rotating device includes a four-link mechanism and a rotating motor. The four-link mechanism is driven by the rotating motor to cause the lawnmower to swing left and right.

5. The left and right swing amplitude adjustment device is composed of a motor and a screw. The screw drives the screw to move horizontally and change the ratio of the length of the arms on both sides of the support point of the mower guide rod. It is used to control the mower blade. Swing amplitude.

6. The driving device includes two driving wheels, and the two driving wheels are connected with the driver to drive the mowing robot to produce a displacement effect.

7. The aforementioned second part is further provided with an optical encoder disc and an infrared sensor on the driving wheel. The infrared sensor and the optical encoder disc are used to calculate two rotational speeds of the driving wheel, and cooperate with the driver to change the rotational speed, and correct the two. The speed of the driving wheels is uniform, so that the walking direction is straight.

8. The drive is a DC motor. And use a DC motor rotary potentiometer to change the driving voltage of the driving wheel motor to achieve the adjustment of the driving wheel speed to achieve the effect of turning and walking path;

9. The front end of the lawnmower blade is provided with an auxiliary piece, so that the lawnmower blade does not contact the ground to protect the safety of the cutter and personnel.

10. The control module further cooperates with an acceleration sensor and an electronic compass to calculate the moving position and direction of the mowing robot, and uses an infrared sensor and an optical encoder disk to calculate the rotation speed of the driving wheel.

     "this invention"     

100‧‧‧Automatic mowing robot

10‧‧‧Driver

11‧‧‧Driver

12‧‧‧Drive Wheel

13‧‧‧Optical Encoder

14‧‧‧ Infrared sensor

20‧‧‧ Mowing Module

21‧‧‧frame

22‧‧‧ Mowing Tools

221‧‧‧Guide

222‧‧‧Accessories

23‧‧‧Lifting device

231‧‧‧Elevating motor

232‧‧‧Screw

24‧‧‧Swing amplitude adjustment device

241‧‧‧Four-link mechanism

242‧‧‧Rotary motor

25‧‧‧ adjusting device

30‧‧‧obstacle avoidance module

31‧‧‧Photography Unit

32‧‧‧ Ultrasonic unit

40‧‧‧path planning navigation module

41‧‧‧GPS system

42‧‧‧Navigation unit

50‧‧‧control module

51‧‧‧Wireless transmission module

52‧‧‧Remote control device

The first diagram is a system block diagram of the present invention.

The second figure is a schematic diagram of the structure of the present invention.

The third figure is a schematic diagram of the lifting device driving the mower to move up and down.

The fourth diagram is a schematic diagram of the rotating device driving the lawnmower to rotate.

The fifth figure is a schematic diagram of the action of the swing amplitude adjusting device to adjust the horizontal position of the mower blade guide.

Figures 6 and 7 are schematic diagrams of swing adjustment of the swing amplitude adjusting device.

The eighth figure is a judgment block diagram of the obstacle avoidance module.

In order to allow your review committee to further understand and agree with the features and characteristics of this case, the following preferred embodiments are listed and illustrated with the following drawings: Please refer to Figures 1 to 8. The automatic lawn mower robot of the present invention is mainly It includes: a driving module 10, which includes a driver 11, which is a direct current motor that changes the driving voltage of the driving wheel motor through a rotary potentiometer. The driver 11 is driven after receiving a command to cause the automatic lawn mower robot 100 to move. A mowing module 20, which includes a frame 21, a mowing blade 22, a lifting device 23, and a rotating device 24, the mowing blade 22 is mounted on the frame 21, and the mowing The grass cutter 22 is provided with a guide rod 221, and the lifting device 23 and the rotation device 24 are disposed below the frame body 21. The grass cutter 22 further includes a swing amplitude adjustment for adjusting the horizontal position of the guide rod 221 of the grass cutter 22 Device 25, the lifting device 23 is used to control the height of the mowing tool 22, and the rotating device 24 controls the mowing tool 22 to generate left and right swing effects through a four-link mechanism 241, and the swing width The degree adjusting device controls the adjustment of the swing amplitude of the mowing cutter 22. An obstacle avoidance module 30 includes a photographing unit 31 and an ultrasonic unit 32. The photographing unit 31 determines whether there are obstacles around the image and Working environment, and the ultrasonic unit 32 generates an ultrasonic wave, if it receives a reflected wave, it determines that there are obstacles around it, and generates a path to avoid obstacles through the control module 50; a path planning and navigation module 40, which includes a A GPS system 41 and a navigation unit 42. The GPS system 41 is used to determine the location of the automatic mowing robot 100, and the navigation unit 42 provides a coordinate path planning of the work area; a control module 50, which is connected with the driving module 10 The mowing module 20, the obstacle avoidance module 30, and the path planning and navigation module 40 are electrically connected, and the automatic mowing robot is controlled by the control module 50 to perform weeding operations.

Through the above-mentioned components, the use of the present invention, the advantages and effects that can be obtained are briefly described as follows:

1. First, please refer to the first to eighth drawings. The main operation of the present invention is to remotely operate the automatic mowing robot 100 for mowing. The driving module 10 is controlled by the control module 50 and the path planning and navigation module 40 to drive the mowing robot to Specifying the mowing position, the obstacle avoidance module 30 determines whether there are obstacles in the route and working range, and the mowing module 20 can adjust the mowing height and range according to demand, so that no manpower is required for mowing.

2. Please refer to the first to eight diagrams. The control module 50 further includes a wireless transmission module 51 and a remote control device 52. The wireless transmission module 51 is used to receive instructions from the remote control device 52, and further A command is given to the automatic mowing robot 100 to go to the work area for mowing.

3. Please refer to the first to third drawings. The lifting device 23 is constituted by a lifting motor 231 and a screw 232, and the screw 232 is driven by the lifting motor 231 to generate vertical lifting so that the mowing tool 22 generates a lifting effect.

4. Please refer to the first, second, and fourth figures. The rotating device 24 includes a four-link mechanism 241 and a rotating motor 242. The four-link mechanism 241 is driven by the rotating motor 242 to make the mowing tool. 22 produces a rotation.

5. Please refer to the first and second figures. The driving device includes two driving wheels 12, and the two driving wheels 12 are connected to the driver 11 to drive the automatic mowing robot 100 to produce a displacement effect. In addition, an optical encoder disk 13 and an infrared sensor 14 are further installed on the driving wheel 12. The infrared sensor 14 is configured to cooperate with the optical encoder disk 13 to calculate two rotational speeds of the driving wheel 12 and cooperate with the driver 11. Change the rotation speed, and correct the second rotation speed of the driving wheel 12 so that the walking direction is straight.

6. Please refer to the first, second, fifth, sixth, and seventh drawings. The front end of the mowing tool 22 is provided with an auxiliary member 222. The auxiliary member 222 prevents the mowing tool 22 from contacting the ground to protect the tool. In addition, the horizontal position of the lawnmower blade 22 is controlled by the adjustment device 25 to control the swinging amplitude of the lawnmower blade 22 so that the lawnmower blade 22 maintains a proper horizontal distance and avoids the center of gravity shift.

7. Please refer to the eighth figure, the obstacle avoidance device mainly determines whether there are obstacles and working environment around the weeder robot through images and ultrasonic waves. First, the photographing unit 31 determines the size of the obstacles, and simultaneously captures the obstacles to affect the notification operation. Personnel, then, the ultrasonic unit 32 periodically generates ultrasonic waves. If the ultrasonic unit 32 receives the reflected wave of the ultrasonic wave, it determines that there are obstacles around it. When it is determined that the obstacles affect the mowing operation, the path is planned. The navigation module 40 plans a new work path.

8. The path planning and navigation module 40 includes a GPS system 41 and a navigation unit 42. When the automatic mowing robot 100 performs mowing operations, the GPS system 41 obtains the position of the automatic mowing robot 100. The position coordinates are transmitted back to the control module 50 to determine whether it is out of the working position. In addition to guiding the travel path, the navigation unit 42 is also used to guide the automatic mowing robot 100 for mowing operations.

9. The present invention is mainly responsible for system control and signal processing through a microcontroller (arduino), increasing the reliability of the system.

10. The control module further cooperates with an acceleration sensor and an electronic compass to calculate the moving position and direction of the mowing robot, and uses an infrared sensor and an optical encoder disk to calculate the rotation speed of the driving wheel.

In summary, none of the constituent structures of the present invention have been found in books or publications, and are in line with the requirements for the application for invention patents.

For those who need to be clear, the above is the technical principle that is immediately applied to the specific implementation of the present invention. If the changes made according to the concept of the present invention still have functions that do not exceed the spirit covered by the description and drawings, All should be within the scope of the present invention and shared by Chen Ming.

Claims (10)

    An automatic lawn mower robot mainly includes: a driving module including a driver, the driver is driven after receiving a command to cause the robot to move automatically; a lawn mower module includes a frame, and a mowing It is composed of a cutter, a lifting device, a rotating device and a swing amplitude adjusting device. The mowing tool is installed on the frame, and the mowing tool is provided with a guide bar. The lifting device and the lower portion are provided below the frame. Rotating device, the lifting device is used to control the height of the mowing tool, and the rotating device is used to control the mowing tool to produce left and right rotation swing effects, and the swing amplitude adjusting device is used to control the swing amplitude of the mowing tool; An obstacle avoidance module includes a photographing unit and an ultrasonic unit. The photographing unit determines whether there are obstacles around the image through the image, and the ultrasonic unit generates an ultrasonic wave. If it receives a reflected wave, it determines that there are obstacles in the surrounding area. And guide the automatic grass cutting robot to avoid obstacles; a path planning navigation module, which includes a GPS system and a navigation unit, The GPS system is used to determine the location of the automatic mowing robot, and the navigation unit provides the coordinate path planning of the work area; a control module, the driving module, the mowing module, the obstacle avoidance module, and the path Plan the electrical connection of the navigation module, and use this control module to control the automatic mowing robot for weeding.         According to the automatic lawnmower robot described in item 1 of the scope of patent application, wherein the control module further includes a wireless transmission module and a remote control device, the wireless transmission module is configured to receive instructions from the remote control device , And then instruct the mowing robot to go to the work area for mowing.         According to the automatic lawnmower robot described in item 1 of the scope of the patent application, the lifting device is constituted by a lifting motor and a screw, and the screw is vertically driven by the lifting motor to make the cutting blade produce a lifting effect.         According to the automatic lawnmower robot described in item 1 of the patent application scope, wherein the rotating device includes a four-link mechanism and a rotating motor, and the four-link mechanism is driven by the rotating motor to make the mowing tool Generate rotation.         According to the automatic lawnmower robot described in item 1 of the scope of the patent application, the driving device includes two driving wheels, and two driving wheels are connected to the driver to drive the lawnmower robot to produce a displacement effect.         According to the automatic lawnmower robot described in item 5 of the scope of patent application, wherein the two driving wheels are further provided with an optical encoder disk and an infrared sensor, the infrared sensor is used to calculate the rotation speed of the two driving wheels , And cooperate with the driver to change the rotation speed, and the second rotation speed of the driving wheel is consistent, so that the walking direction is straight.         According to the automatic lawnmower robot described in item 1 of the patent application scope, wherein the driver is a DC motor.         According to the automatic lawnmower robot described in item 1 of the scope of the patent application, wherein the front end of the lawnmower blade is provided with an auxiliary member, the lawnmower blade is protected from contact with the ground by the auxiliary member.         According to the automatic lawnmower robot described in item 1 of the scope of the patent application, the control module further cooperates with an acceleration sensor and an electronic compass to calculate the moving position and direction of the lawnmower robot, and uses an infrared sensor and an optical encoder disk to calculate The speed of the drive wheels.         According to the automatic lawnmower robot described in item 1 of the scope of patent application, wherein the left-right swing amplitude adjusting device is composed of a motor and a screw, and the motor drives the screw to move horizontally to change both sides of the mower guide rod support point The ratio of the length of the arm is used to control the left-to-right swing of the mower.