WO2016202290A1

WO2016202290A1 - Intelligent lawn maintenance system

Info

Publication number: WO2016202290A1
Application number: PCT/CN2016/086208
Authority: WO
Inventors: 查晓亮
Original assignee: 科沃斯机器人股份有限公司
Priority date: 2015-06-17
Filing date: 2016-06-17
Publication date: 2016-12-22
Also published as: CN106304944A; CN106304944B

Abstract

Provided is an intelligent lawn maintenance system, comprising a maintenance robot (1) and a base (2), wherein the maintenance robot (1) comprises a machine body (3) and a water tank (4) arranged on the machine body (3); the base (2) comprises an engagement portion (37); the engagement portion (37) is provided with a water filling pipe (7) corresponding to an automatic filler (5) and a charging needle (8) corresponding to a charging interface (6); after the maintenance robot (1) is engaged with the base (2), the maintenance robot (1) can be charged and/or filled with water by the base (2); and the maintenance robot (1) can be engaged with the base (2). The intelligent lawn maintenance system can realize automatic charging and water-filling of the robot, and can realize maintenance work, such as mowing, watering and spraying of chemicals, without being operated by a person, thus saving on labor, preventing the chemicals from being inhaled by people, and realizing a relatively high automation level.

Description

Intelligent turf maintenance system

Technical field

The invention relates to an intelligent lawn maintenance system and belongs to the technical field of intelligent robots.

Background technique

In recent years, with the continuous improvement of people's living conditions, lawn maintenance robots have gradually entered the family. At present, the common lawn maintenance robots on the market usually have a single function, and most of them only have the basic function of mowing, and the automation level is low. However, in general, for example, the flowers and plants in the garden of the villa need to be regularly watered and maintained in addition to the beauty of the flowers. Not only that, but in the case of infection with pests and diseases, it is also necessary to spray them. If these maintenance operations are performed manually, the workload is not only increased, but once the protective measures are not in place, the health of the workers may be adversely affected by the volatilization of the pesticides and the like.

Summary of the invention

The present invention has been made in view of the above problems, and a main object of the present invention is to provide an intelligent turf maintenance system capable of reducing the amount of labor, realizing automatic charging of a robot, adding water, and capable of simultaneously watering flowers and plants.

In order to achieve the above object, the technical solution of the present invention is implemented as follows:

The invention provides an intelligent lawn maintenance intelligent turf maintenance system, the system comprising:

The robot and the base are maintained, and the two can be docked.

The maintenance robot comprises a body and a first control unit disposed in the body, the first control unit controls the walking unit to drive the maintenance robot through the driving unit, the charging power supply unit provides power for the maintenance robot, and the first control unit controls the mowing unit and the water spray The unit completes its own operation; the water spray unit includes a water tank, and the water tank is provided with an automatic water supply port; the body is provided with a charging interface, which is connected to the charging power supply unit.

The base includes a docking portion, the docking portion is provided with a water adding pipe corresponding to the water adding port, and a charging pin corresponding to the charging interface.

After the maintenance robot and the pedestal are docked, the pedestal charges and/or adds water to the maintenance robot.

In the intelligent turf maintenance system of the present invention, a protrusion is further disposed on the back of the body, and the contact portion is provided with a contact switch corresponding to the protrusion, the water supply pipe is connected to the water supply pipe through the valve, and the base further includes a second control unit. The second control unit is coupled to the contact switch.

Or, there is a magnet on the back of the body, and a Hall element corresponding to the magnet is arranged on the butt joint, and the water pipe is added. The water supply pipe is connected by a valve, the base further includes a second control unit, and the second control unit is connected to the Hall element.

The valve is a solenoid valve and the second control unit is also connected to the solenoid valve.

The valve can also be a mechanical valve that can be coupled to the second control unit.

Preferably, the water tank is provided with an inductive floating ball and a limiting slot for receiving the inductive floating ball, the limiting slot communicates with the interior of the water tank, the bottom of the limiting slot is provided with a low water level Hall switch, and the docking portion is provided with a corresponding water tank. The high water level Hall switch in the full position of the water, the low water level Hall switch is connected to the first control unit, and the high water level Hall switch is connected to the second control unit.

Preferably, the back side of the water tank is further provided with a ring magnet, and the abutting portion is provided with an induction coil corresponding to the ring magnet, and the induction coil is controlled by the second control unit for supplying power.

Preferably, the water tank is provided with an automatic water adding cover, and the automatic water adding port extends axially toward the inside of the water tank to form a limiting sleeve, and the automatic water adding cover is slidably connected in the limiting sleeve, and the lower end of the limiting sleeve is provided with a leaking water tank, automatically The water adding cover comprises a cover plate and an extension column, and the extension column is sleeved with a spring, and the spring is abutted between the cover plate and the bottom plate of the limiting sleeve.

Preferably, the cover plate is provided with a sealing ring on one side of the automatic water filling port.

Preferably, the upper part of the water tank is further provided with a manual watering port.

Preferably, the water spray unit includes a water pump connected to the water tank, and the water pump communicates with the water spray port provided on the upper surface of the front end of the body.

Preferably, the mowing unit comprises a cutter disc and a cutting blade disposed at the bottom of the body, and a mowing motor that operates in the body to drive the cutting blade.

Preferably, the walking unit comprises a driving wheel disposed at two sides of the rear end of the body and a driven wheel at the front end of the body, and the driving unit is a driving motor disposed in the body.

Preferably, the front end of the body is further provided with an illumination lamp and a camera.

Preferably, the maintenance robot and the base are docked by laser ranging.

Preferably, the system further comprises a control terminal, and the maintenance robot exchanges information with the control terminal through the wireless signal, and the control terminal comprises a mobile phone, a remote controller and the like.

The intelligent turf maintenance system of the invention realizes automatic charging and watering of the robot, and realizes maintenance work such as mowing, watering and spraying without following the following, which can save labor and avoid inhalation of medicaments by personnel, and can achieve higher The level of automation.

The technical solutions of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

DRAWINGS

Figure 1 is a section of the maintenance robot of the embodiment of the intelligent turf maintenance system of the present invention as seen obliquely from the front upper side Stereogram

Figure 2 is a perspective view of the maintenance robot portion of the embodiment of the intelligent turf maintenance system of the present invention as seen obliquely from the lower rear side;

Figure 3 is a perspective view of an embodiment of the intelligent turf maintenance system of the present invention;

Fig. 4 is a schematic cross-sectional view showing the smart lawn maintenance system of the present invention in a docking state when water is added.

detailed description

The embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings.

1 is a perspective view of a maintenance robot portion of an embodiment of the intelligent turf maintenance system of the present invention as seen obliquely from the upper front side; FIG. 2 is a maintenance robot of an embodiment of the intelligent turf maintenance system of the present invention seen obliquely from the lower rear side A perspective view of a portion; FIG. 3 is a perspective view of an embodiment of the intelligent turf maintenance system of the present invention. Referring to Figures 1, 2 and 3, the intelligent turf maintenance system of the present invention includes a maintenance robot 1 and a base 2, which are capable of docking. The utility model comprises a body 3 and a first control unit disposed in the body 3. The first control unit controls the walking unit to drive the maintenance robot 1 through the driving unit, the charging power supply unit provides power to the maintenance robot 1, and the first control unit controls the mowing The unit and the water spray unit complete their respective operations. The water spray unit includes a water tank 4, and the water tank 4 is provided with an automatic water supply port 5. The body 3 is provided with a charging interface 6, which is connected to the charging power supply unit. The base 2 includes an abutting portion 37, and the abutting portion 37 is provided with a water supply pipe 7 corresponding to the water supply port 5, and a charging pin 8 corresponding to the charging interface 6. After the maintenance robot 1 and the base 2 are docked, the base 2 can charge and/or add water to the maintenance robot 1.

The back of the body 3 is further provided with a stud 9 , and the abutting portion 37 is provided with a contact switch 10 corresponding to the stud 9 , and the water supply pipe 7 is connected to the water supply pipe 12 through the valve 11 , and the base 2 further includes a second control unit, The two control units are connected to the contact switch 10.

When docked, the stud 9 on the back of the body 3 of the maintenance robot 1 triggers the contact switch 10. After receiving the trigger signal, the second control unit opens the control valve 11 to allow the water from the water supply pipe 12 to flow into the water tank through the water supply pipe 7. 4. The water supply pipe 12 is connected to a water pipe.

Alternatively, the back of the body 3 is further provided with a magnet, the abutting portion 37 is provided with a Hall element corresponding to the magnet, and the water supply pipe 7 is connected to the water supply pipe 12 through the valve 11, the base 2 further includes a second control unit, and the second control unit Connected to the Hall element.

That is to say, instead of providing the stud 9 and the trigger switch 10, a magnet may be disposed at the position of the stud 9, and a Hall element capable of sensing the magnetic field of the magnet may be correspondingly disposed on the susceptor 2, and the Hall element may be The second control unit sends a signal representative of the successful docking, and the second control unit then controls to open the valve 11 to add water to the water tank 4.

Additionally, valve 11 may be an electromagnetic or mechanical valve whose switch is controlled by a second control unit. of course, In the case where the valve 11 is a mechanical valve, the valve 11 is not necessarily controlled by the second control unit, and the valve 11 as a mechanical valve can also be manually controlled manually.

In addition, as shown in FIG. 2, the water tank 4 is provided with an inductive floating ball 13 and a limiting slot 14 for receiving the inductive floating ball 13. The limiting slot 14 is formed by a wall surface extending upward from the bottom of the water tank, and is provided on the wall surface. An opening communicating with the interior of the water tank 4, the induction float 13 is confined in the limiting slot 14, and moves up and down with the change of the water level in the water tank, the induction float 13 has a built-in magnet 131, and the bottom of the limiting slot 14 is low. The water level Hall switch 15 and the low water level Hall switch 15 are connected to the first control unit. When the water level in the water tank drops to the water shortage state, the induction float 13 moves to the bottom of the water tank, triggering the low water level Hall switch 15, first After receiving the trigger signal, the control unit judges the water shortage in the water tank and controls the maintenance robot to return to the pedestal to add water. Through the laser ranging technology, the maintenance robot can accurately dock with the pedestal, and the laser ranging technology will be described below.

In order to limit the amount of water added, the docking portion 37 is provided with a high water level Hall switch 16 corresponding to the water full position of the water tank 4, and the high water level Hall switch 16 is connected to the second control unit, and once the water valve reaches the upper limit, the water level reaches the upper limit. That is, the position of the high water level Hall switch 16, the induction float 13 triggers the high water level hall switch 16, thereby transmitting a signal that the water has been full to the second control unit, and the second control unit controls the closing of the solenoid valve 11 to avoid The water overflows from the automatic watering port 5 of the water tank 4.

In order to facilitate the water supply and ensure the sealing of the water tank, the water tank 4 is provided with an automatic water adding cover 19, and the automatic water adding port 5 extends axially toward the inside of the water tank 4 to form a limiting sleeve 20, and the automatic water adding cover 19 is slidably connected to the limiting sleeve. In the 20, the lower end of the limiting sleeve 20 is provided with a water leakage tank. The automatic water adding cover 19 includes a cover plate 22 and an extension column 23. The extension column 23 is sleeved with a spring 24, and the spring 24 abuts against the cover plate 22 and the limiting sleeve. Between the bottom plates of 20, in the non-butted state, under the elastic force of the spring 24, the cover plate 22 is closed against the automatic watering port 5; and in the docked state, as shown in Fig. 4, the water pipe 7 is extended. The water inlet 5 is inserted into the automatic water supply port 5, and the automatic water supply cover 19 is opened to the inside of the water tank. The spring 24 is compressed, and the water flows into the water tank 4 through the water leakage port 21 at the bottom of the water supply pipe 7.

In addition, a ring magnet 17 is further disposed on the back of the water tank 4, and the abutting portion 37 is provided with an induction coil 18 corresponding to the ring magnet 17. The induction coil 18 is controlled by the second control unit, and when the first control unit detects water shortage or power When it is insufficient, the control maintenance robot moves toward the base, and an induction element that senses the force of the water supply pipe 7 may be disposed on the base 2, for example, the pressure sensor 38 may be provided as a force sensing element. In this embodiment, the water supply pipe 7 and the base 2 are softly connected, and the base 2 is provided with a pressure sensor 38 corresponding to the rear end of the water supply pipe 7. When the maintenance robot 1 is docked with the base 2, the water supply pipe 7 is pushed forward. The water cover 19 is automatically added so that the water supply pipe 7 is subjected to a rearward force applied by the automatic water supply cover 19. As described above, since the water supply pipe 7 is softly connected to the base, the water supply pipe 7 can be slightly displaced rearward relative to the base 2, and thereby the rearward force applied by the automatic water supply cover 19 is transmitted. Pressure sensor 38 is applied. Then, the pressure sensor 38 sends a signal to the second control unit, thereby The second control unit controls the energization coil 18 to be energized, so that the energization coil 18 generates a magnetic field opposite to the ring magnet 17. When the maintenance robot 1 is docked with the base 2, the attraction between the two can assist the two to dock and make both Firmly locked together to ensure the reliability of watering and charging.

Fig. 4 is a schematic cross-sectional view showing the smart lawn maintenance system of the present invention in a docking state when water is added. As can be seen from FIG. 4, when the water level rises to the position of the high water level Hall switch 16, since the induction float 13 triggers the high water level hall switch 16, the second control unit controls the solenoid valve 11 to close to stop the water addition, and simultaneously detects When the power supply unit has completed charging, the mutual locking between the maintenance robot 1 and the base 2 is cancelled by powering off the induction coil 18. At this time, the first control unit controls the maintenance robot 1 to leave the base 2 to continue the operation. The water supply pipe 7 is withdrawn from the limit sleeve 20, and under the action of the spring force of the spring 24, the cover plate is abutted against the inner wall of the water tank located at the automatic water supply port 5, which also allows the cover of the maintenance robot 1 during the walking process. The plate 22 can help prevent water in the water tank 4 from spilling outward due to bumps.

In the present invention, the cover 22 is further provided with a sealing ring 25 on the side of the automatic watering port 5. The sealing ring 25 is arranged to further seal the automatic watering port 5, so as to prevent the water in the water tank 4 from shaking due to uneven running surface. It was shaken out.

Further, at the upper end of the water tank 4, a manual watering port 26 is preferably provided. The manual watering port 26 is provided to facilitate the user to inject the medicine or nutrient solution into the water tank 4. At the same time, it can also be used as a spare water injection port when the automatic water inlet 5 at the rear of the water tank 4 is damaged or the base 2 is broken.

In the present invention, the water spray unit further includes a water pump connected to the water tank 4, and the water pump communicates with the water spray port 27 provided on the upper surface of the front end of the body 3. The water pump is installed in the water spray unit and pressurized by the water pump to spray the water from the front water spray port 27, which has the advantage of a larger spray range than the conventional bottom water discharge.

Further, a water outlet 34 may be provided at the bottom of the water tank 4, and the water flow flows out through the water outlet 34 and is sent to the water pump, and finally discharged from the water spray port 27.

The mowing unit in the present invention may include a cutter blade 28 and a cutter blade 29 disposed at the bottom of the body 3, and a mowing motor provided to drive the cutter blade 29 disposed in the body 3 as needed.

Further, the traveling unit may include a driving wheel 30 disposed at both sides of the rear end of the body 3 and a driven wheel 31 located at the front end of the body 3. The driving unit is a driving motor disposed in the body 3, and the driving motor is coupled to the driving wheel 30.

The front end of the body 3 is preferably provided with an illumination lamp 32 and a camera 33. Setting the camera 33 on the maintenance robot 1 greatly facilitates the user to realize remote real-time monitoring operation through the wireless network, and the illumination lamp 32 is disposed beside the camera 33, so that the maintenance robot 1 can work normally even in a dark environment.

Preferably, the maintenance robot 1 and the susceptor 2 are docked by laser ranging. The traditional infrared signal docking mode is susceptible to strong light in the outdoor, and the laser ranging is not interfered by light, and has accurate ranging and transmission. The distance characteristics are such that the lawn maintenance system of the present invention can cover a large range and the reliability of the docking can be improved. The laser ranging technique used in the present invention may be such that a strip-shaped reflective material can be disposed on the susceptor 2, the reflective material can reflect the laser light, and accordingly, a laser emitting device is disposed on the curing robot and The laser receiving device, when it is required to be docked, the laser emitting device on the maintenance robot 1 can emit laser light substantially parallel to the ground by rotating scanning, when the laser encounters the reflective material is reflected, and is received by the curing robot 1 When the device is received, the maintenance robot 1 walks along the laser light path and gradually approaches the susceptor 2, and continuously emits laser light and receives reflected light during walking to accurately detect the distance between the pedestal 2 and the pedestal 2 when the distance is very close. When the maintenance robot rotates the predetermined angle, the charging interface 6 and the like on the body 3 are aligned with the corresponding components on the base 2, and gradually approached, thereby achieving docking.

In addition, the maintenance robot 1 in the present invention can exchange information with the control terminal through a wireless signal, and the control terminal includes a mobile phone and/or a remote controller and the like. For example, the maintenance robot 1 of the present invention is operated by a remote controller or a mobile phone APP to perform operations such as water spraying, mowing, monitoring, lighting, and the like.

In addition, the first control unit of the maintenance robot 1 can automatically plan the route according to the ground conditions. In the present invention, the maintenance robot 1 also has the functions of automatic collision avoidance and automatic escape.

The base 2 may further include a horizontal portion 36 substantially perpendicular to the abutting portion 37, and the horizontal portion includes a flat plate fixedly coupled to the bottom of the abutting portion 37. When the maintenance robot 1 is docked with the base 2, the maintenance robot 1 is located on the flat plate. The flat plate of the horizontal portion 36 serves as a temporary platform when the maintenance robot 1 is docked to ensure that the respective portions of the maintenance robot 1 are smoothly docked with the corresponding portions on the base 2, and the docking failure due to the unevenness of the lawn can be avoided to the utmost extent.

A power cord 35 connected to an external power source can be passed out from the rear of the base 2. Or set the power cord 35 to be hidden and route from the ground.

It should be noted that, in the base 2 of the lawn maintenance system of the present invention, it is preferable that the water outlet 7 and the power cord 35 and the charging needle 8 are staggered in the vertical direction, so that the water outlet 7 can be prevented from being added after the water is added. Possible residual droplets at the ends thereof drip onto the above-mentioned electrical components, causing short-circuiting or corrosion of the power supply line 35 and the charging pin 8.

It should be understood that the maintenance robot of the present invention belongs to a self-mobile robot capable of relying on a navigation system to accurately return to the pedestal for charging and/or adding water when detecting insufficient power and/or water shortage, and capable of completing charging and/or adding water. After that, continue working according to the preset procedure.

In addition, in the present invention, the charging pin 8 is understood to be any charging plug, electrode or the like that can be inserted into or electrically connected to the charging interface 6, and should not be simply understood as a pin-shaped charging plug, and the spring 24 should be It is understood to be a member or the like which can generate an elastic force by flexural deformation.

The intelligent turf maintenance system of the invention can realize automatic charging and watering of the maintenance robot, and at the same time realize maintenance work such as mowing, watering and spraying without the following, which can save labor, avoid inhalation of medicaments by personnel, and realize high automation. Level.

Claims

An intelligent turf maintenance system, characterized in that it comprises a maintenance robot (1) and a base (2), which are capable of docking;

The maintenance robot (1) includes a body (3) and a first control unit disposed in the body (3), the first control unit controls the walking unit to drive the maintenance robot (1) by a driving unit, The charging power supply unit supplies power to the maintenance robot (1), the first control unit controls the mowing unit and the water spray unit to complete respective operations; the water spray unit includes a water tank (4), and the water tank (4) An automatic watering port (5) is disposed thereon; the body (3) is provided with a charging interface (6) connected to the charging power supply unit;

The base (2) includes a docking portion (37), the docking portion (37) is provided with a water supply pipe (7) corresponding to the water filling port (5), and a charging pin (8) corresponding to the charging interface (6);

After the maintenance robot (1) and the base (2) are docked, the base (2) charges and/or adds water to the maintenance robot (1).
The intelligent turf maintenance system according to claim 1, wherein the back of the body (3) is further provided with a stud (9), and the abutting portion (37) is provided with the stud (9) Corresponding to the set contact switch (10), the water supply pipe (7) is connected to the water supply pipe (12) through a valve (11), the base (2) further comprising a second control unit, the second control unit and The contact switch (10) is connected.
The intelligent turf maintenance system according to claim 1, wherein the back of the body (3) is further provided with a magnet, and the abutting portion (37) is provided with a Hall element corresponding to the magnet. The water supply pipe (7) is connected to the water supply pipe (12) through a valve (11), the base (2) further comprising a second control unit, the second control unit being connected to the Hall element.
The intelligent turf maintenance system according to claim 2 or 3, wherein the valve (11) is a solenoid valve, and the second control unit is further connected to the solenoid valve.
A smart turf maintenance system according to claim 2 or 3, wherein said valve (11) is a mechanical valve that is connectable to said second control unit.
The intelligent turf maintenance system according to claim 4, wherein the water tank (4) is provided with an induction float (13), and a limiting slot (14) for accommodating the induction float (13). Limiting slot (14) and water tank (4) internal communication, the bottom of the limiting slot (14) is provided with a low water level Hall switch (15), and the docking portion (37) is provided with a high water level Hall corresponding to the water full position of the water tank (4) A switch (16), the low water level hall switch (15) is connected to the first control unit, and the high water level hall switch (16) is connected to the second control unit.
The intelligent turf maintenance system according to claim 6, wherein the water tank (4) is further provided with a ring magnet (17) on the back side, and the abutting portion (37) is provided corresponding to the ring magnet (17). An induction coil (18), the induction coil (18) being powered by a second control unit.
The intelligent turf maintenance system according to claim 7, wherein the water tank (4) is internally provided with an automatic water adding cover (19), and the automatic water adding port (5) extends axially toward the inside of the water tank (4). a limiting sleeve (20), the automatic watering cover (19) is slidably connected in the limiting sleeve (20), and a lower end of the limiting sleeve (20) is provided with a water leakage tank, the automatic water adding The cover (19) includes a cover plate (22) and an extension post (23), and the extension post (23) is sleeved with a spring (24), the spring (24) abutting against the cover plate (22) and the limit position Between the bottom plates of the sleeve (20).
The intelligent turf maintenance system according to claim 8, characterized in that the cover (22) is provided with a sealing ring (25) on one side of the automatic watering opening (5).
The intelligent turf maintenance system according to claim 9, characterized in that the upper portion of the water tank (4) is further provided with a manual watering port (26).
The intelligent turf maintenance system according to claim 10, wherein said water spray unit comprises a water pump connected to the water tank (4), and said water pump and a water spout provided on an upper surface of the front end of the body (3) (27) ) Connected.
The intelligent turf maintenance system according to claim 11, wherein the mowing unit comprises a cutter disc (28) and a cutting blade (29) disposed at the bottom of the body (3), and is disposed on the body ( 3) The mowing motor that drives the cutting blade (29).
The intelligent turf maintenance system according to claim 12, wherein the walking unit comprises a driving wheel (30) disposed at two sides of a rear end of the body (3) and a driven wheel (31) located at a front end of the body (3). The driving unit is a driving motor disposed in the body (3).
The intelligent turf maintenance system according to claim 13, characterized in that the front end of the body (3) is further provided with an illumination lamp (32) and a camera (33).
The intelligent turf maintenance system according to any one of claims 6 to 14, characterized in that the maintenance robot (1) and the pedestal (2) are docked by laser ranging.
The intelligent turf maintenance system according to claim 15, wherein the system further comprises a control terminal, wherein the maintenance robot (1) exchanges information with the control terminal via a wireless signal, the control terminal including a mobile phone or remote control.