WO2009036644A1

WO2009036644A1 - Robot mower system

Info

Publication number: WO2009036644A1
Application number: PCT/CN2008/000028
Authority: WO
Inventors: Fangtian Ying; Chun Chen
Original assignee: Zhejiang University
Priority date: 2007-09-21
Filing date: 2008-01-03
Publication date: 2009-03-26

Abstract

A robot mower system comprises a mower, a remote control and an electric fence. The mower comprises : a main body provided with a platform(10),walking wheels(11) and a universal wheel ; driving components provided with walking motors and drive gears(1); bumping detectors provided with micro-switches(7) and a push plate(8); control devices provided with a circuit control panel(19); and virtual lines detectors for inducting the electromagnetic signals sent from the electric fence. This system can auto-trimming the lawn under wireless remote controlled, and predefine the area of lawn required trimming by the technology of electromagnetic field and make the mower work in this area and detour the obstacles automatically.

Description

Robotic lawn mower system

Technical field

The present invention relates to a lawn mower, and more particularly to a robotic lawn mower system for performing lawn trimming services in a home, public green space, and the like.

Background technique

The conventional structure of the lawn mower is to install a roller in the lower part of the fuselage, a hand push rod is installed at the rear of the fuselage, and a rotary cutter is installed at the bottom, and the cutter is connected by the output shaft of the motor or the gasoline machine. The mower of this structure cannot be intelligently operated autonomously, must be operated manually, and has high labor intensity; and the motor has high power consumption and high noise, which is not conducive to saving energy and reducing labor; The effect is that the exhaust gas generated by the combustion of the gasoline engine pollutes the air.

In addition, the main technical means to make the robot work within the specified range are: infrared, ultrasonic or collision switches (such as micro switches, Hall switches). The infrared light will become very poor under strong sunlight, and the reflection distance is almost no; the ultrasonic wave sends an intermittent sound wave, and after sending a sound wave signal, it will pause for a period of time to wait for the ultrasonic signal, due to the response time and test. The problem of distance, there is the limit of the farthest distance and the closest distance. The distance beyond this distance is the blind zone of the ultrasonic wave; the collision switch is installed in front of the robot. Considering the cost and aesthetic problems, it is generally installed with several collision switches on average. A collision switch will be installed at each position in front. In the above way, when the outdoor or terrain changes are not specific, the fixed point work cannot be achieved well.

Summary of the invention

The technical problem to be solved by the present invention is to provide a robotic lawn mower system, which can automatically perform lawn trimming under wireless remote control, and pre-set the grass mowing area for the lawn mower by using electromagnetic field technology, and can remotely control and determine the cutting. The height of the grass, the mower after starting work in the designated area, can also automatically avoid obstacles, low labor intensity, low power consumption and low pollution.

The technical solution adopted by the present invention to solve the above problems is as follows: The robotic lawn mower system includes a lawn mower, and the lawn mower includes: (1) a main body portion provided with a mowing part for trimming the grass evaluation and a walking wheel; 2) The height adjustment section is set to remotely control the height of the mowing cutter; (3) the driving component is disposed on the main body portion for driving the traveling wheel; (4) the collision detecting component detects an obstacle in front of the collision detecting component When the signal is sent to the control component, and the control component is signaled in the event of a collision, the control component issues an instruction to avoid the obstacle; (5) the control component, which includes the microprocessor, the mowing component, the driving component, and the collision The detection component and the input and output signals of the virtual line detecting component are processed and controlled; (6) a virtual line detecting component including a magnetic detecting sensor for sensing an electromagnetic signal emitted by the robotic fence, after the electromagnetic signal is converted into an electrical signal, The electrical signal is output to the control component;

The system further includes a remote controller for wirelessly communicating with the lawn mower and remotely controlling the lawn mower; the system further includes a fence, which defines the mowing area for the lawn mower, and emits electromagnetic signals, and detects the virtual line The components cooperate to control the mower to walk in the circled area.

The virtual line detecting component of the present invention is mounted on both sides of the lawn mower, wherein the magnetic detecting sensor can be a Hall sensor or a magnetic detecting probe. The height adjustment portion of the present invention is mounted above the tool to remotely control the height of the mowing tool to determine the mowing height.

The collision detecting member of the present invention includes an infrared sensor that outputs a signal to the microprocessor when the infrared sensor senses an obstacle in front.

The collision detecting member of the present invention includes a micro switch that outputs a signal to the microprocessor when the micro switch is hit by an obstacle.

The circuit part of the lawn mower and the remote controller of the present invention comprises a motherboard circuit processor unit, a power supply and a charge management circuit, a travel drive circuit, a mowing height adjustment circuit, a mowing drive circuit, a remote control receiving circuit, an infrared detection circuit, and a virtual a line detection circuit, a filter circuit, a collision processing circuit, and a remote control circuit, wherein: the motherboard circuit processor unit includes a microprocessor A with an A/D conversion terminal, and the microprocessor A interacts with other circuits through various function pins. The driving circuit is connected to the microprocessor A, and the driving output signal is controlled by the microprocessor A for controlling the direction and the rotation speed of the lawn mower; the mowing drive circuit is connected to the microprocessor A, and is controlled by the microprocessor A. The switch for implementing the mowing part; the remote receiving circuit comprises a wireless receiving module and a microprocessor B, and the wireless receiving module sends the encoded remote control signal to the microprocessor B, and is decoded by the microprocessor B and sent to the micro Processor A; The infrared detection circuit collects signals from the infrared transmitting tube and the infrared receiving tube, and the output signal is amplified and then connected to the micro The processor A is for the microprocessor A to judge the obstacle condition; the virtual line detecting circuit collects the signal by the inductor, converts the electromagnetic field signal generated by the virtual line into an electric signal, and then amplifies the electric signal by a direct amplification; the filter circuit detects the virtual line The imaginary line signal amplified by the circuit is filtered, and then divided into microprocessor A after being divided; the collision processing circuit is connected with the microprocessor A, and the micro switch signal is conditioned and sent to the microprocessor A; the remote control circuit The received remote control signal is modulated and sent out through the antenna, and sent out for decoding by the wireless receiving module.

The circuit portion of the fence of the present invention includes a processor control circuit, and a power circuit connected to the processor control circuit, a battery charge management circuit, a virtual line transmitting circuit, and a radio transmitting module, wherein: the processor control circuit includes micro processing C, the microprocessor C is interconnected with other circuits through the respective function pins; the virtual line transmitting circuit includes an amplifying circuit, a wire and a rectifying voltage dividing circuit, and the amplifying circuit is connected to the microprocessor C, and the receiving circuit is generated by the microprocessor C. Pulse control signal, and increase the driving current of the pulse control signal, and then generate a bipolar pulse signal to the wire to drive the virtual line to generate an electromagnetic field virtual wall, and the rectifying voltage dividing circuit is connected to the microprocessor C, which collects the voltage signal to determine the virtual line The working state is given an indication signal by processing the control indicator; the battery charging management circuit is connected to the microprocessor C for controlling the charging state; and the radio transmitting module is connected to the microprocessor C for implementing the wireless remote control function of the system.

In the virtual line transmitting circuit of the present invention, a pair of field effect transistors are controlled by a current limiting resistor to increase the driving current of the pulse signal, and then the bipolar pulse signal is generated to the wire through the blocking capacitor and the transformer coil.

Compared with the prior art, the invention has the following beneficial effects: 1. The robot mower automatically adjusts the mowing height under the control of the remote controller and automatically cuts the grass without manual operation; during the running, the collision detecting component It will detect whether there is an obstacle in front, and if there is an obstacle, send the signal to the control part, and give an instruction to avoid the obstacle. When the obstacle is hit, the micro switch in the collision detecting part is touched, and the control part receives the signal. After that, the driver is given an instruction to avoid obstacles, and has an automatic obstacle avoidance function. 2. The robotic mower system uses the lawn mower with the electronic fence. When working, the pulse control signal is generated by the electronic fence, and then amplified and loaded into the matching matching guide. On the line, the wire continuously emits electromagnetic signals to form a closed electromagnetic field, and a lawn mowing area is preset for the lawn mower. The virtual line detecting component on the lawn mower senses the magnetic field and receives the electromagnetic signal emitted by the fence. Then, according to the strength of the electromagnetic signal, the mower cuts the grass along the fence of the fence and controls its action in the designated area to realize automatic navigation, obstacle avoidance and operation.

DRAWINGS

1 is a schematic plan view showing the lawn mower of the present invention.

Figure 2 is a side elevational view showing the lawn mower of the present invention.

Figure 3 is a bottom plan view of the lawn mower of the present invention.

Figure 4 is a schematic view showing the structure of the height adjustment portion of the lawn mower of the present invention.

Figure 4-1 is a cross-sectional view taken along line A-A of Figure 4 .

Fig. 4-2 is a cross-sectional view taken along line B-B of Fig. 4.

Figure 4-3 is a top view of Figure 4.

Figure 5 is a schematic view showing the structure of a walking wheel of the lawn mower of the present invention.

Figure 6 is a system configuration diagram of the lawn mower of the present invention.

Figure 7 is a general view of the circuit principle of the lawn mower of the present invention.

Figure 8 is a schematic diagram of the processor control unit of Figure 6.

Figure 9 is a schematic diagram of the power and charge management circuit of Figure 6.

Figure 10 is a schematic diagram of the walking drive circuit of Figure 6.

Figure 11 is a schematic diagram of the mowing drive circuit of Figure 6.

Figure 12 is a schematic diagram of the remote control receiving circuit of Figure 6.

Figure 13 is a schematic diagram of the infrared detecting circuit of Figure 6.

Figure 14 is a schematic diagram of the virtual line detecting circuit of Figure 6.

Figure 15 is a schematic diagram of the filter circuit of Figure 6.

Figure 16 is a schematic diagram of the collision processing circuit of Figure 6.

Figure 17 is a schematic diagram of the remote controller circuit of Figure 6.

Figure 18 is a system configuration diagram of an electric fence in the present invention.

Figure 19 is a general view of the circuit principle of the fence in the present invention.

Figure 20 is a schematic diagram of the power switch circuit of Figure 18.

Figure 21 is a schematic diagram of the processor control circuit and the virtual line transmitting circuit of Figure 18.

Figure 22 is a schematic diagram of the battery charge management circuit of Figure 18.

detailed description

Referring to Fig. 1 to Fig. 4, in the embodiment, the structural portion of the lawn mower includes a main body portion, a height adjusting portion, a driving member, a collision detecting member, and a control member. The main body portion includes a chassis 10, two traveling wheels 11, and a universal wheel 14. The lower side of the front side of the chassis 10 is a sloped inclined surface. The two traveling wheels 11 are symmetrically mounted below the rear side of the chassis 10, and the universal wheel 14 is mounted in the middle of the front side of the chassis 10. The axle 12 of the traveling wheel 11 is located in two bearings (not shown), and the bearing is pressed by the bearing. The cover 3 is fixed to the chassis 10. The height adjustment portion is mounted on the chassis 10 and fixed to the chassis 10 via a flange 5, and the flange 5 can be 1 to 3 depending on the number of the mowing motor. The rear side of the chassis 10 is provided with a handle 6 for facilitating the handling of the machine, and the chassis 10 is provided with a battery compartment 18 for placing a battery, the bottom Two charging metal dots 13 for charging are provided on the front side of the disk 10.

The mowing motor 40 is installed in the height adjustment section, and the 'U grass motor drives the multi-ribbed pulley 4 1, the multi-wedge wheel drives the V-ribbed belt 4 2, the multi-ribbed belt drives the driven wheel 4 3, and the driven wheel drives the cutter shaft 4 4 The cutter shaft drives the cutter 4 5 to realize mowing.

Adjusting the motor assembly 4 6 on the height adjustment part, raising the motor to drive the gear 4 7, the gear 4 7 driving the two driven wheels 4 8, the two driven wheels each drive the corresponding screw shaft 4 9, the screw shaft rotates to drive the knife The creel 50 moves up and down, and the arbor supports the arbor to realize the up and down adjustment of the tool. To adjust the height of the tool safely, add the micro switch 5 1 and the micro switch 5 2 at both ends of the tool's upper and lower safety strokes. The tool holder will touch the micro switch 5 1 to reverse the control motor; 5 2 also controls the motor reversal.

The driving component includes a traveling motor and a transmission gear. The traveling motor (not shown) is fixed to the lower side of the chassis 10 by the traveling motor gland 4, and the transmission gear 1 is mounted on the output shaft of the traveling motor, and the axle 12 of the traveling wheel 11 is mounted. The transmission gear 2 is installed, and the power transmission is realized by the belt transmission between the two transmission gears, and the traveling motor drives the traveling wheel 11 to rotate.

The collision detecting member includes a micro switch 7 and a push plate 8, the push plate 8 and the four micro switch 7 are located on the front side of the chassis 10, the push plate 8 is movable along the chassis 10, and the chassis 10 is provided with a chassis tension spring fixing post 17 The push plate 8 is provided with a push plate tension spring fixing column 16, and an elastic member is connected between the two tension spring fixing columns. In this embodiment, the tension spring 9 is used, and the elastic member can also be an elastic steel piece and the like which can achieve the same effect. After the push plate 8 moves a certain distance, the micro switch 7 can be pressed.

The control unit includes a circuit control board 19 to which the micro switch 7 is connected.

Referring to Fig. 5, the traveling wheel 11 includes a large wheel 20 and a small wheel 21 which are nested within the large wheel 20, and the large wheel 20 is detachable from the small wheel 21 to adjust the mowing height.

In addition, a pressure sensor can be installed between the bearing and the bearing gland 3 for detecting the pressure of the traveling wheel 11 on the machine to detect whether the machine is suspended or not, thereby further improving the performance.

When the mower is walking, if an obstacle is encountered, the obstacle gives the push plate 8 an external force, and the push plate 8 moves in the direction of the force. When the stroke reaches a certain distance, the micro switch 7 is pressed open, and the circuit control board 19 When the signal is obtained, the circuit control board 19 gives the walking motor an instruction to avoid the obstacle, thereby realizing the avoidance of the obstacle. Since the tension spring 9 is pulled between the chassis tension spring fixing column 17 and the push plate tension spring fixing column 16, when the collision external force disappears, that is, the traveling direction is unobstructed, and the push plate S resumes the position before the collision.

The following is a detailed description of the mower and remote control circuit sections:

Referring to FIG. 6 and FIG. 7, the circuit structure includes a processor control unit 30, a power and charge management circuit 31, a travel drive circuit 32, a mowing drive circuit 33, a remote control receiving circuit 34, an infrared detection circuit 35, a virtual line detection circuit 36, The filter circuit 37, the collision processing circuit 38, and the remote controller circuit 39. The motherboard circuit processor unit 30 includes a microprocessor A with an A/D conversion terminal.

Referring to Fig. 8, the microprocessor A in the processor control unit 30 is an STC microprocessor of the type 5410AD (hereinafter referred to as U3 for short). The pin 7 and the pin 8 of the microprocessor U3 are connected with a crystal clock circuit composed of a crystal oscillator Y1, a capacitor C16 and a capacitor C70 (the crystal oscillator Y2 is reserved for spare), and the working clock is provided for the microprocessor U3; The pin 3 is connected with a reset circuit composed of a capacitor C9 and a resistor R16 to provide a reliable power-on reset for the microprocessor U3. The foot 2 of the microprocessor U3 is connected with an alarm consisting of a buzzer E1, a triode Q6 and a resistor R13. Indication circuit.

Referring to FIG. 9, in the power and charge management circuit 31, the power supply portion is connected to the port P2 (port by the DC 24V power supply). PI is reserved for the solar cell. It is input through the current limiting resistor R1, the filter capacitor C2, and the switching regulator integrated chip U1. The control pin 5 of the switching regulator integrated chip U1 and the grounding pin 3 are grounded to make the switching regulator integrated chip U1 in operation. The voltage output pin 2 of the switching regulator integrated chip U1 provides a 5V regulated power supply through the rectifying inductor L2, the filter capacitor C3, and the filter capacitor C4. The switching regulator integrated chip U1 output pin 2 is grounded via the reverse diode D6 to form a voltage regulator protection circuit. The regulated output voltage is connected to the feedback input pin 4 of the switching regulator integrated chip U1 to realize automatic feedback adjustment and stable voltage. The 24V operating voltage required for the travel drive circuit 32 is provided by the external power supply being rectified by the inductor L1. In the charging management part, the battery voltage is divided by a voltage dividing circuit composed of a resistor R17, a resistor R20, and a capacitor C12, and then passed through the multi-channel two-way switching switch U5 for the voltage data of the A/D collecting terminal 29 of the processor U3. When the battery voltage is low voltage, the external DC power supply charges the battery through the port P4, wherein the sampling resistor R7 and the transistor Q2 form a charging current limiting circuit to prevent the charging current from being excessively large, and the resistor R93, the resistor R94, the resistor R95, the resistor R96, A circuit composed of a transistor Q11 is used to process the external voltage for acquisition and monitoring.

Referring to Fig. 10, the travel drive circuit 32 drives the two traveling wheels 11 by dedicated drive chips U2, U9, respectively. The pin 13, the pin 14, the pin 19 and the pin 30 of the processor U3 generate four PWM signals respectively connected to the pin 5, the foot 7, the foot 10 and the foot 12 of the driving chip U2 and U9 for controlling the driving output signal, thereby realizing walking. Forward, reverse, fast forward and slow turn of the motor. The legs 6 and 11 of the driving chips U2 and U9 are enable control terminals. The A/D acquisition pin 25 and pin 27 of the processor U3 are connected to the pin 1 and pin 15 of the driver chip U2 and U9 through the sampling resistors R4 and R18 (R88, R83) to collect the driving current of the chip. The reverse diodes D3, D4, D7, and D8 are used to regulate voltage to ensure that the driving voltage is in a safe range.

Referring to Figure 1, 1, the mowing drive circuit 33, the foot 18 of the processor U3 is controlled to open and close by the control transistor Q5 to: control the M0S tube Q4, thereby achieving the cutting of the mowing motor. The current acquisition of the mowing drive circuit is accomplished by sampling resistor R28 to the AD port of processor U3. The hysteresis comparator consisting of operational amplifier U11A (LM358), resistor R103, resistor R31, resistor R29, diode D21, and diode D18 limits the mowing drive circuit. When the drive circuit current is too large, the hysteresis comparator will The output signal controls the transistor Q12, and the MOSFET Q4 is disconnected to achieve current limiting protection.

Referring to FIG. 1 2, the remote control receiving circuit 34 includes a wireless receiving module and a microprocessor B, and the microprocessor B is an STC microprocessor of the type 12C2052 (hereinafter referred to as U4). The wireless receiving module transmits the encoded remote control signal to the pin 6 of the microprocessor U4 through the port P11, and the microprocessor U4 is responsible for the decoding work and transmits the decoded result to the foot 11 of the microprocessor U3 through the pin 11. Finally, the microprocessor U3 performs the relevant task based on the result of the remote control signal.

Referring to FIG. 13, the infrared detecting circuit 35 includes an infrared transmitting tube and an infrared receiving tube. The pulse signal of the infrared transmitting tube is generated by the delay integrated circuit U6, the resistor R48, the resistor R51, the capacitor C33, the capacitor C32 and the diode D20. The infrared signal received by the infrared receiving tube is filtered by the capacitor C65, the resistor R43 and the capacitor C25, and then amplified and shaped by the transistors Q9 and Q10, and the conditioned signal is connected to the pin 31 of the microprocessor U3 for the microprocessor U3. Determine the collision status.

Referring to FIG. 14, the magnetic detecting sensor in the virtual line detecting circuit 36 is four magnetic detecting probes in the embodiment, and may also be a Hall sensor. According to the principle of electromagnetic transmission, the inductor L3 (inductors L4, L5, L6 are the other three-way detection circuit, the principle is the same, not introduced), the electromagnetic field signal generated by the virtual line is converted into electrical signal acquisition, and then The signal is amplified by the operational amplifier U7 for subsequent processing.

Referring to FIG. 15, the filter circuit 37 is composed of an operational amplifier U7, a resistor R44, a resistor R55, a resistor R8, a capacitor _C44 , a capacitor C45, etc., and is responsible for filtering the imaginary line signal amplified by the direct amplification, and then passing through Schottky. A rectifying voltage dividing circuit composed of a diode D19, a resistor R50, a resistor R49, and a capacitor C31 is divided and supplied to the A/D collecting terminal 28 of the microprocessor U3. The multi-channel dual-way switch U5 is used to switch multiple acquisition signals of the system, which can save the A/D acquisition port of the microprocessor U3 and improve the reuse rate of the A/DD.

Referring to Figure 1, in the collision processing circuit 38, when the mower hits an external obstacle, the micro switch 7 is touched, the micro switch 7 is closed during the collision, and the micro switch signal is sent to the microprocessor after conditioning. U3, the corresponding program is called by the microprocessor U3 for processing.

Referring to Figure 1, in the remote control circuit 39, there are four buttons K0, Kl, Κ 2, 3 on the remote control panel, which respectively correspond to left turn, right turn, switch machine, and back charging stand. The functions and buttons can also be based on the user. modify. The trigger button is encoded by the ΡΤ 2262 to generate a fundamental wave signal, and is modulated by the carrier signal generated by the XI, and then transmitted through the antenna for decoding by the remote control receiving module in the remote control receiving circuit 34.

The following is a detailed description of the electronic fence circuit section:

Referring to FIG. 18 and FIG. 1, the circuit structure includes a processor control circuit 40, a power supply circuit 41, a virtual line transmitting circuit 43, a battery charging management circuit 44, and a radio transmitting module 45, wherein the microprocessor in the processor control circuit 40 C is an STC microprocessor of the type 5410AD (hereinafter referred to as U5), and the virtual line transmitting circuit 43 includes an amplifying circuit 431, a wire 432, and a rectifying voltage dividing circuit 433.

Referring to Figure 2 0, in the power circuit 41, the external DC power supply port Ρ6, after the current limiting resistor R1, and the filter capacitor C2, input the switch regulator chip U3 pin 1. The control pin 5 of the integrated chip U3 and the grounding pin 3 are grounded to make it in operation. The voltage output pin 2 of the integrated chip U3 is supplied with a 5V regulated power supply through the rectifying inductor L2 and the filter capacitors C3 and C4. The voltage output pin 2 of the integrated chip U3 is grounded by the reverse diode D6 to form a voltage regulator protection circuit. The regulated output voltage is connected to the feedback input pin 4 of the integrated chip U3 to realize automatic feedback adjustment and stable voltage of the circuit.

Referring to FIG. 2, in the processor control circuit 40, the oscillating circuit composed of the crystal oscillator Y1, the capacitor C21, and the capacitor C22 is connected to the pin 4 and the pin 5 of the microprocessor U5 for providing the operating clock of the microprocessor U5; A reset circuit composed of a resistor R30, a capacitor C20, and a capacitor C26 is connected to the pin 1 of the processor U5; the pin 2 and the pin 3 of the microprocessor U5 are connected to the program download port P2 to facilitate the microprocessor U4 to download the program online; Pin 6, foot 7, pin 8, and pin 9 of U5 are connected to reserved port JP2 to facilitate the expansion of other functions. U5 pin 12, pin 13 and pin 14 of the microprocessor are AD ports, pin 12 is used to collect data of battery charging status, pin 13 is used to collect data of battery charging voltage, and pin 14 is used to collect data of virtual line.

The virtual line transmitting circuit 43 includes an amplifying circuit 431, a wire 432 and a rectifying voltage dividing circuit 433. The amplifying circuit 431 is connected to the pin 11 of the microprocessor U5, and receives the pulse control signal generated by the microprocessor U5, and is controlled by the current limiting resistor R31. A pair of FETs is used to increase the driving current of the pulse signal, and then a bipolar pulse signal is generated through the DC blocking capacitor C9 and the transformer winding T1 to the wire 32 to drive the imaginary line to generate an electromagnetic field virtual wall to specify a working range for the lawn mower. The rectifying voltage dividing circuit 433 is connected to the pin 14 of the microprocessor U5, which is composed of a Schottky diode D1, a resistor R28, a resistor R19, a capacitor R29, and a capacitor C10. The rectifying voltage dividing circuit 433 collects a voltage signal to determine the virtual line The working state and the indication signal are given by processing the control indicator, wherein R29 is a current limiting resistor, which is used to effectively prevent the current from being excessively burned.

Referring to FIG. 2 2, the battery charging management circuit 44 is connected to the pin 19 of the microprocessor U5, and the charging state is controlled by the MOS transistor Q4. The pull-up resistor R14 and the pull-down resistor R16 are used to ensure that the driving current has a stable voltage to control the MOS. The tube Q4; a charging voltage dividing circuit composed of resistors R13, R15, and R19 is connected to the pin 13 of the microprocessor U5 for the microprocessor U5 to monitor the voltage of the battery. The pin 2 of the port P5 is connected to the pin 12 of the microprocessor U5 for monitoring the switching state of the MOS transistor Q4. The indicator port JP1 is connected to the microprocessor's pin 16, pin 17, and pin 18 to reflect the state of charge of the battery during operation.

The radio transmitting module 45 is connected to the foot 15 of the microprocessor U5 for implementing the wireless remote control function of the system.

When in use, the magnetic detection probe mounted on the front side of the mower is used in conjunction with a fence, which is a sensor that senses the magnetic field. The fence first uses a guide coil to set a certain range of the site, and then measures the resistance value of the wire. Then, a certain resistance is set on the string, and the total resistance value is set to about 10 ohms, and the lawn mower is set to be used for mowing. The fence is used to transmit a radio signal every 10 seconds through the radio transmitting module 45 for identifying whether the lawn mower is working with a fence. If not, the lawn mower is not working, and the processor control circuit 40 controls the virtual line. The transmitting circuit 43 emits an electromagnetic signal. After the start, the mower first runs the involute mode mowing. When the mower runs to the edge of the pre-arranged fence, the magnetic detection probe senses the magnetic field emitted by the robot fence, and outputs the level signal to the micro-processing. Device A, at this time, the automatic avoidance obstacle program set in the microprocessor A is started, instructing the lawn mower to retreat and then turn to the other direction to realize the automatic avoidance function. When the mowing and automatic charging functions are to be implemented, the microprocessor A enters the automatic navigation program, and the mower walks directly above the machine's electronic fence, and the magnetic detection probes at both ends control the wire cutting of the mower along the machine fence. grass. When the mower is walking to the left, the magnetic field signal detected by the magnetic detecting probe on the right side is stronger than the left side, and the magnetic detecting probes on both sides output the level signal to the microprocessor A, and the microprocessor A is set. The automatic navigation program starts, instructing the lawn mower to turn to a right angle and then proceeding forward. When walking to the right, the same reason is achieved, and the automatic navigation function is realized. When an obstacle appears in front of the mower in the walking, the infrared rays continuously emitted by the infrared emitting tube in the infrared emitter are reflected back, and the infrared receiving tube receives the infrared signal, and after the signal is processed, it is input into the microprocessor A, The microprocessor A controls the lawn mower to turn, if a collision occurs, the push plate 8 is pressed, the micro switch 7 is subjected to the collision action, and a switch signal is output to the microprocessor A, and the microprocessor A controls the lawn mower to turn. Then cut along the line and cut the grass along the line. When mowing along the end of a straight line, if the distance to the grass is high, the current of the mowing motor rises, and the voltage across the sampling resistor connected to the mowing motor changes. After the microprocessor A detects the electric signal. Control the mower to start the involute mode mowing, when there is an obstacle, the mowing machine will avoid (the principle is the same as above) and continue the involute mode mowing. When traveling to the vicinity of the machine fence, the magnetic detection probe on the front side detects the electromagnetic signal, and the signal is processed and input to the microprocessor A. The microprocessor A controls the mowing robot to retreat and then turn and then continues to walk in a straight line. When the grass density is high, start the in-line mode to cut the grass. When the mower's battery power is low, the mower will turn on the automatic charging procedure, instructing the mower to stop the mowing motor. The microprocessor A controls the walking motor to slow down the speed of the traveling motor, and then walks on the line to automatically navigate ( The process is mowing along the line), walking to the charging base, charging by the charging electrodes on the charging stand attached to the two charging metal points 13 directly in front of the lawn mower, then the battery charging management circuit 44 works, and the lawn mower is operated. Charging, automatic charging function.

Claims

Claim

1. A robotic lawn mower system, characterized by:

Lawn mower, which includes -

(1) a main body portion having a mowing member and a walking wheel for mowing the lawn;

(2) a driving member disposed on the main body portion for driving the traveling wheel;

(3) The collision detecting unit sends a signal to the control unit when an obstacle is detected in front, and sends a signal to the control unit when the collision occurs, and the control unit issues an instruction to avoid the obstacle;

(4) a control unit including a microprocessor for processing and controlling input and output signals of the mowing member, the driving member, the collision detecting unit, and the virtual line detecting unit;

(5) a virtual line detecting component, comprising a magnetic detecting sensor for sensing an electromagnetic signal emitted by the robotic fence, and outputting the electrical signal to the control component after the electromagnetic signal is converted into an electrical signal;

a remote controller for wireless communication with the lawn mower and remote control of the lawn mower;

An electronic fence that defines the mowing area for the mower and emits an 'electromagnetic signal that cooperates with the virtual line detection component to control the mower to walk within the circled area.

2. The robotic mower system according to claim 1, wherein: the virtual line detecting component is mounted on both sides of the lawn mower, wherein the magnetic detecting sensor can be a Hall sensor or a magnetic detecting probe.

3. The robotic lawn mower system according to claim 1, wherein: said collision detecting means comprises an infrared sensor, and when the infrared sensor senses an obstacle in front, the signal is outputted to the microprocessor.

4. The robotic mower system according to claim 1, wherein: said collision detecting means comprises a micro switch that outputs a signal to the microprocessor when the micro switch is hit by an obstacle.

The robotic lawn mower system according to any one of claims 1 to 4, wherein: the circuit portion of the lawn mower and the remote controller comprises a motherboard circuit processor unit, a power supply and a charge management circuit, and a travel drive. a circuit, a mowing drive circuit, a remote control receiving circuit, an infrared detecting circuit, a virtual line detecting circuit, a filter circuit, a collision processing circuit, and a remote control circuit, wherein:

The motherboard circuit processor unit includes a microprocessor A with an A/D conversion terminal, and the microprocessor A is interconnected with other circuits through various function terminals;

The travel drive circuit is connected to the microprocessor A, and the microprocessor A controls the drive output signal for controlling the direction and the rotational speed of the mower;

The mowing drive circuit is connected to the microprocessor A and controlled by the microprocessor A for implementing the switch of the mowing part; the remote control receiving circuit comprises a wireless receiving module and a microprocessor B, and the wireless receiving module sends the encoded remote control signal To the microprocessor B, decoded by the microprocessor B and sent to the microprocessor A;

The infrared detecting circuit collects signals from the infrared transmitting tube and the infrared receiving tube, and the output signal is amplified and connected to the microprocessor A for the microprocessor A to judge the obstacle condition;

The virtual line detecting circuit collects a signal from the inductor, converts the electromagnetic field signal generated by the virtual line into an electric signal, and then amplifies the electric signal by direct amplification;

The filter circuit filters the virtual line signal that is directly amplified by the virtual line detection circuit, and then is connected after being divided. Microprocessor A;

The collision processing circuit is connected to the microprocessor A, and the micro switch signal is conditioned and sent to the microprocessor A. The remote control circuit modulates the received remote control signal and sends it out through the antenna for decoding by the wireless receiving module.

The robotic lawn mower system according to any one of claims 1 to 4, wherein: the circuit portion of the fence includes a processor control circuit, and a power supply circuit and a battery connected to the processor control circuit. a charge management circuit, a virtual line transmitting circuit, and a radio transmitting module, wherein:

The processor control circuit includes a microprocessor C, and the microprocessor C is interconnected with other circuits through various functional pins; the virtual line transmitting circuit includes an amplifying circuit, a wire and a rectifying voltage dividing circuit, and the amplifying circuit is connected to the microprocessor C, and the receiving circuit thereof The pulse control signal generated by the microprocessor C increases the driving current of the pulse control signal, and then generates a bipolar pulse signal to the wire to drive the virtual line to generate the electromagnetic field virtual wall, and the rectifying voltage dividing circuit is connected to the microprocessor C, and the collecting is performed. The voltage signal determines the working state of the virtual line and gives an indication signal by processing the control indicator;

The battery charging management circuit is connected to the microprocessor C for controlling the state of charge;

The radio transmitting module is connected to the microprocessor C for implementing the wireless remote control function of the system.

7. The robotic mower system according to claim 6, wherein: in the virtual line transmitting circuit, a pair of field effect transistors are controlled by a current limiting resistor to increase a driving current of the pulse signal, and then pass through a DC blocking capacitor and The transformer coil generates a bipolar pulse signal to the wire.