WO2019157841A1 - 割草机器人、割草机工作区域生成系统、生成方法、避障装置及自动割草系统 - Google Patents

割草机器人、割草机工作区域生成系统、生成方法、避障装置及自动割草系统 Download PDF

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Publication number
WO2019157841A1
WO2019157841A1 PCT/CN2018/114208 CN2018114208W WO2019157841A1 WO 2019157841 A1 WO2019157841 A1 WO 2019157841A1 CN 2018114208 W CN2018114208 W CN 2018114208W WO 2019157841 A1 WO2019157841 A1 WO 2019157841A1
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WO
WIPO (PCT)
Prior art keywords
mowing robot
mowing
working area
walking
terminal
Prior art date
Application number
PCT/CN2018/114208
Other languages
English (en)
French (fr)
Inventor
应卫强
张玲燕
应放天
Original Assignee
杭州慧慧科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201810151153.4A external-priority patent/CN108337987A/zh
Priority claimed from CN201810151151.5A external-priority patent/CN108055906A/zh
Priority claimed from CN201820257830.6U external-priority patent/CN208159284U/zh
Priority claimed from CN201810933497.0A external-priority patent/CN108919814A/zh
Application filed by 杭州慧慧科技有限公司 filed Critical 杭州慧慧科技有限公司
Publication of WO2019157841A1 publication Critical patent/WO2019157841A1/zh

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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
    • A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
    • A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
    • A01D34/42—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a horizontal axis, e.g. cutting-cylinders
    • A01D34/43—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a horizontal axis, e.g. cutting-cylinders mounted on a vehicle, e.g. a tractor, or drawn by an animal or a vehicle
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
    • A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
    • A01D34/42—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a horizontal axis, e.g. cutting-cylinders
    • A01D34/56—Driving mechanisms for the cutters
    • A01D34/58—Driving mechanisms for the cutters electric
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D69/00—Driving mechanisms or parts thereof for harvesters or mowers
    • A01D69/02—Driving mechanisms or parts thereof for harvesters or mowers electric
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions

Definitions

  • the present application relates to the technical field of mowing equipment, and in particular to a mowing robot, a mower working area generating system, a generating method, an obstacle avoiding device and an automatic mowing system.
  • the mowing robot in the prior art basically adopts wheeled walking, has a simple structure and good maneuverability, but the wheel of the mowing robot is driven by a power mechanism, and is limited to walking, and the mowing device is driven by another power mechanism, Therefore, the motive power of the mowing robot is independent of the mowing power, and the number of power mechanisms is large, which increases the energy consumption invisibly.
  • the purpose of the present disclosure includes providing a mowing robot, a lawn mower working area generating system, a generating method, an obstacle avoiding device, and an automatic mowing system to alleviate the prior art in that the walking power and the mowing power are independent from each other. Cost and increase energy consumption.
  • the technical means adopted by the present disclosure include:
  • a mowing robot provided by the present disclosure includes a support frame, a housing, a walking device, a mowing device, and an electric control device.
  • the traveling device includes a traveling motor and a walking driving wheel, and the traveling motor and the driving driving wheel Each of the travel motors is coupled to the travel drive wheel; the housing is fastened to the support frame, and the bottom of the housing is provided with the active travel a walking driven wheel for use with a wheel; the walking driving wheel is provided with an internal tooth structure, and an input end of the mowing device is provided with a first gear meshing with the internal tooth structure;
  • the walking driving wheel rotates to cause the mowing robot to walk, and the mowing device is driven by the walking driving wheel.
  • a second gear is disposed on the rotating shaft of the traveling motor, and the second gear meshes with the internal tooth structure; or the second gear meshes with the first gear.
  • a second gear is disposed on the rotating shaft of the traveling motor, the second gear meshes with the internal tooth structure, and a third gear is pivotally connected to the supporting frame, and the third gear meshes with the third gear Between the second gear and the first gear.
  • a pulley is disposed on the rotating shaft of the driving driving wheel and the rotating shaft of the traveling motor, and a pulley is disposed between the pulley on the driving driving wheel shaft and the pulley on the rotating shaft of the traveling motor. connection.
  • the driving driving wheels are two, and a driving shaft is connected between the two driving driving wheels, and the two driving driving wheels are pivotally connected to the supporting frame through the driving shaft, and respectively Located on the left and right sides of the support frame;
  • the mowing device comprises a hob assembly and an adjustable pallet assembly, the hob assembly being pivotally connected to the support frame and located at two of the walking drive wheels
  • the first gear is disposed on the hob assembly;
  • the adjustable pallet assembly is disposed on the support frame and located below the hob assembly, the adjustable pallet assembly and the The hob assemblies are used in conjunction with each other to perform a mowing action.
  • the hob assembly includes a rotating shaft, a plurality of fixing members and a plurality of blades, the rotating shaft is rotatably disposed on the supporting frame, and at least one end of the rotating shaft is opposite to the first a gear connection; a plurality of the fixing members are fixedly disposed on the rotating shaft, and each of the blades is fixedly mounted on an outer edge of the plurality of fixing members.
  • the adjustable pallet assembly comprises a pallet, an adjusting hand wheel and an adjusting rod, wherein the two ends of the pallet are provided with connecting arms at both ends, and the two connecting arms are respectively connected to the supporting bracket
  • the left and right sides are pivotally connected;
  • the support frame is provided with a connecting ear, the adjusting rod passes through the connecting ear, and one end of the adjusting rod is connected with the adjusting hand wheel, and the other end is connected with the supporting plate
  • the connecting arm is connected, and the adjusting rod can drive the connecting arm of the pallet to be close to or away from the connecting ear, and the connecting arm rotates around the pivoting portion to drive the pallet to rotate relative to the supporting frame.
  • a through hole is defined in the connecting arm of the connecting ear and the supporting plate, and the adjusting rod sequentially passes through the connecting arm and the through hole on the connecting ear, and the adjusting rod end
  • the sectional dimension is larger than the cross-sectional dimension of the through hole on the connecting arm
  • the adjusting rod is sleeved with a return spring, and the return spring is located between the connecting ear and the connecting arm
  • An adjusting nut with a threaded hole is disposed at a position between the connecting ear and the adjusting hand wheel, and a threaded structure is disposed on the adjusting rod near the adjusting hand wheel, and the adjusting rod passes through the Threaded connection between the threaded structure and the adjusting nut.
  • an obstacle avoiding device is disposed at a front end of the housing, the obstacle avoiding device includes a cover body, a plurality of sets of ultrasonic generators, and a plurality of sets of infrared sensors; the front end portion of the cover body is provided with a bell mouth structure, And a plurality of the infrared sensors are arranged at the bottom of the bell mouth structure, and a plurality of the ultrasonic generators are disposed on the sidewall of the bell mouth structure; the opening of the bell mouth structure is set to 20°-140 The ultrasonic generator and the infrared sensor are all electrically connected to the electronic control device.
  • the present disclosure provides a lawn mower work area generating system including a terminal and the above-described mowing robot, the terminal being communicatively coupled to the mowing robot.
  • the mowing robot or the terminal is provided with an image display module, and the mowing robot is provided with a positioning module, and the image display module and the positioning module are electrically connected to the mowing robot
  • the control device is connected, and the positioning module sends the mowing robot position information to the electronic control device every predetermined time interval, and the electric control device generates the finished mowing according to the position information sent by the positioning module.
  • a work area image the first work area image information is sent to the image display module; the image display module is configured to display the first work area image according to the first work area image information.
  • the mowing robot is provided with a first generating device, and the first generating device includes:
  • the receiving module is configured to receive a control command sent by the terminal, where the control command is an instruction that the terminal controls the mowing robot to walk;
  • a sampling module configured to select a plurality of sampling points in the walking path during walking
  • a recording module configured to record location information of each of the sampling points
  • a first sending module configured to send location information of the sampling point to the terminal, so that the terminal generates a working area of the mowing robot according to location information of the sampling point;
  • the first receiving module is configured to receive and save the working area sent by the terminal.
  • the terminal includes a second generating device, where the second generating device includes:
  • a second sending module configured to send a control instruction to the mowing robot to cause the mowing robot to walk according to the control instruction
  • a second receiving module configured to receive position information of the plurality of sampling points recorded during the walking process sent by the mowing robot
  • Generating a module configured to generate a working area of the mowing robot according to position information of the plurality of sampling points;
  • a third sending module configured to send the working area to the mowing robot.
  • the present disclosure also provides a mower working area generating method, which is applied to a mowing robot in the above mower working area generating system, and the method includes:
  • the mowing robot receives a control command sent by the terminal, wherein the control command is an instruction that the terminal controls the mowing robot to walk;
  • the step of selecting multiple sampling points in the walking path includes:
  • sampling manner includes a time sampling mode or a distance sampling mode
  • the method further includes:
  • a plurality of sampling points at the edge of the non-working area are selected according to the sampling manner set in advance;
  • the work area deleting the non-work area is received and saved.
  • the present disclosure also provides a method for generating a mower working area, the method being applied to a terminal in the mower working area generating system, the method comprising:
  • the work area is sent to the mowing robot.
  • a closed area surrounded by the curve is set as the working area.
  • the present disclosure also provides a lawn mower working area generating method, the method being applied to a mowing robot, the method comprising:
  • the present disclosure also provides an obstacle avoidance device, comprising: a device body for mounting on a base body requiring obstacle avoidance; the device body comprising a cover body, an ultrasonic generator and an infrared sensor; The front end portion is provided with a bell mouth structure, and a plurality of the infrared sensors are arranged at the bottom of the bell mouth structure, and a plurality of the ultrasonic generators are disposed on the side wall of the bell mouth structure; the bell mouth structure The opening is set to 20°-140°.
  • the present disclosure also provides an automatic mowing system, comprising: a mowing robot, an ultrasonic generator disposed on the mowing robot, and an electric control device; the ultrasonic generator is connected to the electric control device, and the ultrasonic generator is used Detecting an obstacle on the walking path of the mowing robot, and transmitting obstacle information to the electronic control device when the obstacle is detected; the electric control device is connected with the walking device of the mowing robot, according to the obstacle The object information determines a walking route, and controls the walking device to follow the walking route to avoid the obstacle.
  • the mowing robot provided by the present disclosure comprises a support frame, a housing, a walking device, a mowing device and an electric control device, wherein the walking device and the mowing device are all disposed on a support frame, the walking device comprises a walking motor and walking
  • the driving wheel is connected with the driving driving wheel; the driving driving wheel is respectively installed on both sides of the supporting frame in the left-right direction, and may be a two-wheel drive or a four-wheel drive, and each traveling driving wheel is equipped with a walking motor.
  • the electric control device controls the operation of each traveling motor to realize the driving process of the driving driving wheel; the casing is fastened on the support frame, and the walking driven wheel is arranged at the bottom of the casing, and the walking is active Under the driving action of the wheel, the walking driven wheel follows, so as to realize the walking process of the whole mowing robot.
  • the walking driving wheel is provided with an internal tooth structure
  • the input end of the mowing device is provided with a first gear
  • the first gear meshes with the internal tooth structure, and when the driving driving wheel rotates, the first gear rotates by the internal tooth structure
  • the first gear is synchronously driven to rotate the tool in the mowing device, so that the mowing operation can be performed during the walking process.
  • the traveling motor and the driving driving wheel installed together with each other are rotated according to actual needs.
  • the driving driving wheel can rotate, and the first gear rotates by the internal tooth structure, and the first gear drives the cutter in the mowing device to rotate at a high speed to realize the cutting of the grass, thereby realizing
  • the mowing is realized synchronously during the walking process, achieving the goal of two things.
  • the mowing robot provided by the present disclosure drives the walking process and the mowing process through a walking motor, thereby reducing the number of driving devices, reducing energy consumption, improving energy utilization, and making the mower compact overall.
  • the volume is reduced, which effectively alleviates the disadvantages of being separated from the mowing function and the complicated structure of the conventional lawn mower, and has the advantages of simple structure, light weight, and low cost.
  • FIG. 1 is a schematic structural diagram of a mowing robot according to an embodiment of the present disclosure
  • FIG. 2 is a schematic view showing another perspective structure of a mowing robot according to an embodiment of the present disclosure
  • FIG. 3 is a schematic structural view of a housing of the mowing robot shown in FIG. 1;
  • FIG. 4 is a first assembled schematic view of the walking device and the mowing device in the mowing robot shown in FIG. 1;
  • Figure 5 is a schematic view showing the structure of the adjustable pallet assembly and the support frame of Figure 4;
  • Figure 6 is a second assembled view of the walking device and the mowing device in the lawn mower shown in Figure 1;
  • FIG. 7 is a schematic view showing the assembly of a traveling motor, a walking driving wheel and a mowing device according to an embodiment of the present disclosure
  • FIG. 8 is a schematic structural diagram of an obstacle avoidance device in a mowing robot according to an embodiment of the present disclosure.
  • FIG. 9 is a schematic diagram of a cross-beam-off mode in an obstacle avoidance device in a mowing robot according to an embodiment of the present disclosure.
  • Figure 10 is a schematic view showing the arrangement of the ultrasonic generators in the same row in the prior art
  • FIG. 11 is a flowchart of a method for generating a mower working area according to an embodiment of the present disclosure
  • FIG. 12 is a schematic diagram of a working area according to an embodiment of the present disclosure.
  • FIG. 13 is a flowchart of another method for generating a mower working area according to an embodiment of the present disclosure
  • FIG. 14 is a schematic structural diagram of a first generating device in a lawn mower working area generating system according to an embodiment of the present disclosure
  • FIG. 15 is a schematic structural diagram of a second generating device in a lawn mower working area generating system according to an embodiment of the present disclosure
  • 16 is a structural block diagram of a lawn mower working area generating system according to an embodiment of the present disclosure.
  • 17 is a schematic diagram of a frame connecting a obstacle avoidance device, an electronic control device, an image display module, and a positioning module in a lawn mower working area generating system according to an embodiment of the present disclosure
  • FIG. 18 is a schematic diagram of a frame of an electric control device in a mowing robot according to an embodiment of the present disclosure
  • FIG. 19 is a schematic diagram of a module of a mowing robot according to an embodiment of the present disclosure.
  • FIG. 20 is a flowchart of interaction between an electronic control device and an image display module of a control method in a mowing robot according to an embodiment of the present disclosure.
  • Icons 100-walking device; 110-traveling motor; 120-walking driving wheel; 121-internal tooth structure; 130-second gear; 200-mower device; 210-hob assembly; 211-fixing member; ; 213 - rotating shaft; 214 - first gear; 220 - adjustable pallet assembly; 221 - pallet; 2211 - connecting arm; 222 - adjusting hand wheel; 223 - adjusting rod; 224 - turning screw; Screw; 226-return spring; 227-adjustment nut; 300-support frame; 310-connecting ear; 400-shell; 410-walking driven wheel; 420-ultrasonic generator; 430-touch switch; 440-infrared sensor 450-positioning module; 4501-wireless transmission unit; 4502-single-chip microcomputer; 460-image display module; 500-electric control device; 510-motor control unit; 600- mowing robot; 602-terminal; 700-cover; - bell mouth structure; 7
  • connection In the description of the present disclosure, it should be noted that the terms “installation”, “connected”, and “connected” are to be understood broadly, and may be fixed or detachable, for example, unless otherwise explicitly defined and defined. Connected, or integrally connected; may be a mechanical connection, an electrical connection, or a communication connection; it may be directly connected, or may be indirectly connected through an intermediate medium, and may be internal communication between the two elements.
  • Connected, or integrally connected may be a mechanical connection, an electrical connection, or a communication connection; it may be directly connected, or may be indirectly connected through an intermediate medium, and may be internal communication between the two elements.
  • the specific meanings of the above terms in the present disclosure can be understood in the specific circumstances by those skilled in the art.
  • a mowing robot also known as a lawn mower
  • the embodiment includes a support frame 300, a housing 400, a walking device (also known as a walking system) 100, a mowing device 200, and an electric control device (also known as a control module).
  • the traveling device 100 and the mowing device 200 are both disposed on the support frame 300.
  • the traveling device 100 includes a traveling motor (also known as a wheel driving mechanism) 110 and a driving driving wheel 120, and the traveling motor 110 and the driving driving wheel 120 are driven.
  • the driving driving wheels 120 are respectively installed on the two sides of the support frame 300 in the left-right direction, and may be two-wheel drive or four-wheel drive, and each of the driving driving wheels 120 is equipped with a traveling motor 110 for driving, so that Each of the traveling motors 110 is controlled by an electric control device (including a power supply system and a control system) to realize a driving process of the traveling driving wheel 120; the housing 400 is fastened on the support frame 300, and a walking is provided at the bottom of the housing 400.
  • the driven wheel 410 is driven by the driving driving wheel 120, and the traveling driven wheel 410 follows, thereby realizing the walking process of the entire mowing robot.
  • the walking driven wheel 410 can be in the form of a universal wheel to facilitate walking and turning of the mowing robot.
  • the specific working process of the mowing robot is: placing the mowing robot on the lawn, pressing the start button, causing the mowing robot to start working, and under the control of the electric control device, the walking motor 110 and the walking driving wheel are installed together with each other. 120 is rotated according to the actual demand. Under the driving action of the traveling motor 110, the driving driving wheel 120 can rotate, and the first gear 214 is rotated by the internal tooth structure 121, and further the first gear 214 drives the mowing device 200.
  • the cutter rotates at a high speed to realize the cutting of the grass, thereby realizing the mowing of the grass during the walking process, achieving the goal of achieving two goals.
  • the mowing robot provided in this embodiment includes the following advantages: the walking process and the mowing process are driven by a walking motor 110, thereby reducing the number of driving devices, reducing energy consumption, improving energy utilization, and simultaneously cutting.
  • the overall structure of the grass machine is compact and the volume is reduced, which effectively alleviates the disadvantages of the separation from the mowing function and the complicated structure of the conventional lawn mower, and has the advantages of simple structure and light weight.
  • the manner of the transmission connection between the traveling motor 110 and the traveling driving wheel 120 may include the following four types.
  • the second gear 130 may be disposed on the rotating shaft of the traveling motor 110; the traveling motor 110 is fixedly mounted on the support.
  • the second gear 130 of the traveling motor 110 is meshed with the internal tooth structure 121, and the traveling motor is driven by the electric control device, and the traveling motor drives the second gear to rotate, and the second gear and the internal tooth are connected to the electronic control device 500.
  • the internal tooth structure drives the first gear to rotate, and the third gear drives the rotation of the first gear to be driven twice, that is, the second tooth
  • the wheel drives the first gear in the same direction and rotation speed through two paths at the same time, thereby reducing the phenomenon of slippage between the first gear and the internal tooth structure when the first gear is rotated by a single path. Resulting in the failure of the first gear to work normally, ensuring normal operation of the first gear through double restriction, and improving the rotation accuracy of the first gear, while the third gear meshes between the first gear and the second gear, mechanically Compared with the two gears, it is more stable; or the second gear can also mesh with the first gear.
  • the driving driving wheels 120 may be one, two or more.
  • the driving wheel 120 rotates to realize walking; or, when the driving driving wheels 120 on both sides are sleeved on the driving shaft and are independent of each other, at this time, the driving driving wheels 120 on both sides are respectively assembled with the traveling motor 110, through respective The traveling motor 110 drives the traveling driving wheels 120 on both sides to achieve walking.
  • the support frame 300 is located on the left and right sides of the support frame 300 respectively;
  • the mowing device 200 includes a hob assembly 210 and an adjustable plate assembly 220, and the hob assembly 210 is rotatably disposed on the support frame 300 and located at two Between the driving wheels 120, the first gear 214 is disposed on the hob assembly 210; the adjustable plate assembly 220 is disposed on the support frame 300 and located below the hob assembly 210, and the plate assembly 220 can be adjusted and rolled.
  • the hob assembly 210 includes a rotating shaft 213, a plurality of fixing members 211, and a plurality of blades (also known as hobs) 212.
  • the rotating shaft 213 is rotatably disposed on the support frame 300.
  • the at least one end of the rotating shaft 213 is connected to the first gear 214;
  • the plurality of fixing members 211 are fixedly disposed on the rotating shaft 213, and each of the blades 212 is fixedly mounted on the outer edge of the plurality of fixing members 211, and the plurality of blades 212
  • the distribution is distributed along the circumferential direction of the rotating shaft 213.
  • the traveling motor 110 drives the driving driving wheel 120 to rotate.
  • the internal tooth structure 121 of the driving driving wheel 120 drives the rotating shaft 213 to rotate through the first gear 214, thereby driving a plurality of blades. 212 rotates circumferentially about the rotating shaft 213 to cooperate with the adjustable pallet assembly 220 to perform a mowing action; in particular, the plurality of blades can be evenly arranged along the circumferential direction of the rotating shaft to improve the hob assembly and the adjustable bracket The uniformity of the plate assembly improves the uniformity of the mowing device.
  • the fixing member 211 can adopt a plate-like structure, and a plurality of engaging grooves are formed at the edge of the plate-like structure, and the plurality of fixing members 211 are arranged side by side on the rotating shaft 213, and can be As the rotating shaft 213 rotates; the respective blades 212 are inserted into the engaging grooves to realize the fixed mounting of the blades 212. Further, the blades 212 may adopt a space curved structure, and the respective fixing members 211 inserted by the blades 212 are engaged. The grooves are arranged in a wrong position, and the design of the blade 212 is more conducive to mowing.
  • At least one end of the rotating shaft 213 is provided with a first gear 214, which may be powered by one end, or may be powered by both ends, and the first gear 214 meshes with the internal tooth structure 121, so that when the mowing robot walks, the walking active
  • the wheel 120 rotates, and the rotating shaft 213 is rotated by the first gear 214, and the rotating frame 213 synchronously drives the fixing frame and the blade 212 to rotate, and the grass is cut by the cooperation of the blade 212 and the adjustable pallet assembly 220.
  • the adjustable pallet assembly 220 may include a pallet 221, an adjustment hand wheel 222, and an adjustment rod 223. Both ends of the pallet 221 are provided in the longitudinal direction. There is a connecting arm 2211, and two connecting arms 2211 are respectively pivotally connected to two sides of the support frame 300 in the width direction; the supporting frame 300 is provided with a connecting ear 310, the adjusting rod 223 passes through the connecting ear 310, and one end of the adjusting rod 223 is adjusted The hand wheel 222 is connected, and the other end of the adjusting rod 223 is connected with the connecting arm 2211 of the pallet 221, and the adjusting rod 223 can drive the connecting arm 2211 of the pallet 221 to approach or away from the connecting ear 310, and the connecting arm 2211 rotates around the pivoting position, and The pallet 221 is rotated relative to the support frame 300.
  • a through hole is formed in the connecting ear 310 and the supporting plate 221, and the adjusting rod 223 sequentially passes through the through hole of the supporting plate 221 and the connecting ear 310, and the cross-sectional dimension of the end of the adjusting rod 223
  • the support rod 223 is disposed on the adjusting rod 226, and the return spring 226 is disposed between the connecting ear 310 and the supporting plate 221; the supporting frame 300 is located on the connecting ear 310 and the adjusting hand
  • An adjustment nut 227 having a threaded hole is provided at a position between the wheels 222, and a threaded structure is disposed on the adjustment rod 223 near the adjustment hand wheel 222 such that the adjustment rod 223 is screwed with the adjustment nut 227.
  • an adjustable pallet assembly 220 is disposed under the hob assembly 210, which includes a pallet 221, an adjustment hand wheel 222 and an adjustment rod 223.
  • the connecting arms 2211 at the two ends of the length of the supporting plate 221 are respectively rotatably connected to the position of the supporting frame 300 near the driving driving wheel 120. That is, the connecting arms 2211 at both ends of the longitudinal direction of the supporting plate 221 are respectively mounted with the supporting frame 300 by the rotating screws 224, and the supporting members are supported.
  • the plate 221 is rotatable relative to the support frame 300 about an angle about the rotating screw 224.
  • one end of the adjusting rod 223 is connected with the connecting arm 2211 of the pallet 221, the other end is connected with the adjusting hand wheel 222, and the adjusting rod 223 passes through the pallet 221 and the connecting ear 310, and when the adjusting rod 223 moves outward or inward
  • the driving connecting arm 2211 is rotated around the rotating screw 224
  • the supporting plate 221 can be rotated synchronously around the rotating screw 224 to realize the distance and angle between the supporting plate 221 and the blade 212, so that the mowing height can be changed.
  • the first adjustment scheme is: one end of the adjusting rod 223 is hinged with the connecting arm 2211 at the end of the supporting plate 221 , the other end is fixedly connected with the adjusting hand wheel 222 , and the adjusting rod 223 is screwed with the connecting ear 310 , thereby When the adjusting hand wheel 222 is screwed, the adjusting rod 223 is rotated relative to the connecting ear 310, so that the adjusting rod 223 can be moved relative to the connecting ear 310, and the end of the supporting plate 221 is brought closer to or away from the connecting ear 310. The pallet 221 is finally rotated a certain angle about the turning screw 224.
  • the second adjustment scheme is as follows: as shown in FIG. 5, a through hole is formed in the connecting arm 2211 at the end of the supporting plate 221, a through hole is formed in the connecting ear 310, and a cross-sectional dimension of one end of the adjusting rod 223 is large, so that the The end can not be connected to the through hole of the arm 2211 through the end of the bracket 221, so that the adjusting rod 223 sequentially penetrates the through hole of the connecting arm 2211 and the connecting ear 310, and the adjusting nut 227 is disposed on the supporting frame 300, The adjusting rod 223 and the adjusting nut 227 are screwed.
  • the adjusting rod 223 can be rotated and moved relative to the adjusting nut 227, thereby being able to pull the connecting arm 2211 at the end of the supporting plate 221 close to the connection.
  • the ear 310 realizes that the pallet 221 rotates in one direction around the rotating screw 224; in order to realize the rotation of the pallet 221 about the rotating screw 224 in the other direction, in this embodiment, the connecting arm 2211 and the connecting ear 310 at the end of the pallet 221 A return spring 226 is disposed between the adjusting rod 223, so that when the adjusting hand wheel 222 is reversely screwed, the end of the plate 221 is acted upon by the return spring 226 The connecting arm 2211 is away from the connecting ear 310 The pallet 221 is rotated about the turning screw 224 in the other direction. Therefore, this solution can also achieve the adjustment of the angle and height between the pallet 221 and the blade 212 to achieve the purpose of adjusting the mowing height, enabling the mowing
  • a limiting hole may be formed in the support frame 300, and a limit screw 225 is disposed on the connecting arm 2211 at the end of the supporting plate 221.
  • the limiting screw 225 can be in the limit position.
  • the hole moves in the hole, and under the limit of the limiting hole, the rotation angle of the connecting arm 2211 and the supporting plate 221 is restricted by limiting the stroke of the limiting screw 225, so that the supporting plate 221 does not rotate excessively.
  • the front end of the housing 400 is provided with an obstacle avoidance device (also known as a sensor system), and the obstacle avoidance device comprises a cover body 700 and a plurality of sets of ultrasonic generators.
  • an obstacle avoidance device also known as a sensor system
  • the obstacle avoidance device comprises a cover body 700 and a plurality of sets of ultrasonic generators.
  • a front end portion of the cover 700 is provided with a bell mouth structure 710, and a plurality of sets of infrared sensors 440 are arranged at the bottom of the bell mouth structure 710, and a plurality of sets of ultrasonic generators 420 are disposed at
  • the bellows structure 710 is disposed on the side wall; the opening of the bell mouth structure 710 is disposed at 20°-140°; and the ultrasonic generator 420 and the infrared sensor 440 are electrically connected to the electronic control device 500.
  • the obstacle avoidance device provided by the embodiment has the following advantages: 1.
  • the ultrasonic waves emitted by the ultrasonic generator 420 are oppositely arranged by the arrangement of the bell mouth structure 710, thereby increasing the area of the identification area and improving the recognition accuracy;
  • the infrared sensor 440 can be shielded, the interference of the sunlight on the infrared sensor 440 is effectively alleviated, and the detection precision is improved.
  • the first opening and the second opening are respectively opened in the side surface 711 and the bottom surface 712 of the bell mouth structure 710, and the infrared sensor 440 is installed in the first opening.
  • infrared rays emitted from the infrared sensor 440 can be emitted from the first opening so as to be able to recognize an obstacle located in front of the substrate; likewise, the ultrasonic generator 420 is disposed at the second opening, and the ultrasonic wave can be from the second The opening is emitted, and the ultrasonic waves emitted from the second opening on the opposite side 711 can cross each other due to a certain angle between the opposite side faces 711, and form an opposing and intersecting area in front of the base body, so that the holes are located. Obstacles in this area are more easily identified and improve obstacle avoidance.
  • the front end of the cover body 700 may be designed as a bell-shaped structure 710 having a circular cross-section, a bell-mouth structure 710 having a rectangular cross-section, or a bell-mouth structure 710 of other shape cross-sections in consideration of the shape and installation of the actual base body;
  • the obstacle avoidance device is installed at the front end of the mowing robot 600, whereby the cover body 700 is designed as a bell-mouth structure 710 having a rectangular cross section in consideration of the shape of the lawn mower 600 housing 400 and the mowing operation condition, such that
  • the ultrasonic generator 420 is symmetrically disposed on the two side faces 711 of the length of the bell mouth structure 710, and the infrared sensor 440 is disposed at the bottom, by the use of the ultrasonic generator 420 and the infrared sensor 440, and the ultrasonic generator 420. Setting the angle greatly improves the working efficiency of the obstacle avoidance device.
  • the obstacle avoidance device is applied to the mowing robot 600, specifically installed at the front end of the casing 400, and the obstacle avoidance device is connected to the electric control device 500 to implement the obstacle avoidance device and the electronic control device 500.
  • the traveling device 100 is used in cooperation with each other to achieve the purpose of avoiding obstacles during the mowing operation.
  • a reference value may be preset in the electronic control device 500, and the reference value is the width/diameter size of the set obstacle, and the ultrasonic wave is passed through the ultrasonic wave.
  • the use of the infrared light can be used to know the size of the recognized object, including the width/diameter, etc., and then transmit the size of the recognized object to the electronic control device 500, and the electronic control device 500 compares the identified size with the set reference value.
  • the identified size is greater than the set reference value, it is determined as an obstacle, thereby controlling the traveling motor 110 to perform corresponding motion, and further controlling the running driving wheels 120 on both sides to make corresponding rotation speeds, thereby achieving the purpose of steering;
  • the recognized size is smaller than the set reference value, it is determined to be grass.
  • the mowing robot 600 is controlled to continue to walk forward to perform the mowing process; in addition, when the object is movable, it can be recognized by the crossed ultrasonic waves.
  • an image display module (also known as an image display unit) 460 and a positioning module 450 may be disposed on the mowing robot 600 or the terminal, and the image display module 460 and the positioning module 450 are both electrically controlled.
  • the device 500 is connected, wherein when the image display module 460 is disposed on the terminal, the image display module 460 is communicatively coupled to the electronic control device 500.
  • the positioning module 450 sends the position information of the mowing robot 600 to the electronic control device 500 every predetermined time interval, and the electronic control device 500 generates the image of the first working area that has been mowing according to the position information sent by the positioning module 450, and the image display module is displayed to the image display module.
  • 460 transmits first work area image information; the image display module 460 is configured to display the first work area image according to the first work area image information.
  • the electronic control device 500 includes: a single-chip microcomputer 4502, a motor control unit 510, and a wireless transmission unit 4501; the single-chip microcomputer 4502 determines a walking route according to the avoidance information to the motor.
  • the control unit 510 transmits a travel route, the motor control unit 510 controls the travel device 100 to follow the travel route to avoid obstacles, and the motor control unit 510 controls the travel device 100 of the mowing robot 600 to drive the mowing robot 600 to turn left or according to the avoidance command.
  • the single-chip microcomputer 4502 generates a first working area range in which the mowing has been completed according to the position information of the mowing robot 600, and transmits a first working area range to the wireless transmission unit 4501; the wireless transmission unit 4501 displays the image to the image Module 460 sends a first range of work areas.
  • a schematic diagram of another mowing robot shown in FIG. 19, the mowing robot 600 includes: a solar panel 800; the solar panel 800 is electrically connected to a power system of the mowing robot 600, and the solar panel 800 Used to power the mowing robot 600.
  • the mowing robot 600 is exposed to outdoor work for a long time, and can fully utilize solar energy to store electricity for its power supply, so as to achieve the technical effect of using clean energy and long-lasting life.
  • the mowing robot 600 further includes: a camera 900; the camera 900 is connected to the electronic control device 500, the camera 900 transmits a captured image to the electronic control device 500, and the electronic control device 500 transmits the captured image to the image display module 460.
  • the image display module 460 displays the captured image. While the mowing robot 600 is working, the user can observe the surrounding situation of the house according to the real-time image fed back by the camera 900. When an unexpected situation is observed, the user can control the mowing robot 600 to stop by clicking pause on the image display module 460. jobs.
  • a mowing robot 600 control method for the electronic control device 500 of the mowing robot 600.
  • the method includes the following steps: receiving the mowing robot 600 sent by the ultrasonic generator 420 to walk Obstacle information on the path; determining the walking route based on the obstacle information, and controlling the walking device 100 to follow the walking route to avoid the obstacle.
  • the method further includes: receiving a second work area range delineated by the user sent by the image display module 460; and controlling the mowing robot 600 to mowing the second work area.
  • the user may temporarily change the defined initial working area range, receive the second working area range delineated by the user sent by the image display module 460 through the electronic control device 500, and control the mowing robot 600 in the second Mowing in the work area.
  • the method further includes: receiving an initial working area range delineated by the user sent by the image display module 460; and controlling the mowing robot 600 to mowing the grass in the initial working area.
  • the user can temporarily change the defined initial working area range according to the actual situation, and receive the second working area range delineated by the user sent by the image display module 460 through the electronic control device 500, and control the mowing robot 600. Cut grass in the second work area.
  • an interaction process between the electronic control device 500 and the image display module of the mowing robot 600 control method is provided, and the mowing robot 600 control method as shown in FIG. 20 is provided.
  • Flowchart of interaction between the electronic control device 500 and the image display module 460 Step S401, the control image display module 460 displays the region image for the user to define the initial working region range in the region image; and in step S402, the control image display module 460
  • the initial working area range is sent to the electronic control device; in step S403, the mowing robot 600 is controlled to cut grass in the initial working area according to the initial working area range; and in step S404, the first step of cutting the grass is generated according to the position information of the mowing robot 600.
  • step S405 sending the first working area range to the image display module 460; step S406, controlling the image display module 460 to display the first working area range; and step S407, controlling the image display module 460 for the user to demarcate the second work Area range; step S408, controlling the image display module 460 to define the second working area range of the user
  • the method is sent to the electronic control device 500; in step S409, the mowing robot 600 is controlled to mowing in the second working area according to the second working area range.
  • a touch switch 430 may be disposed at the front end of the housing 400, and the touch switch 430 is electrically connected to the electronic control device.
  • a touch switch 430 is further disposed at the front end of the housing 400, that is, when the touch switch 430 touches an obstacle, the mowing robot stops working or shifts the movement reverse, so that the mowing robot does not hit. On the obstacle.
  • the intelligent mowing robot provided by the embodiment includes the above-mentioned mowing robot and the intelligent control module, and the mowing robot is controlled by the intelligent control module to perform mowing.
  • the intelligent control module can be similar to the control module in the prior art.
  • the control module of the sweeping robot, etc. thus, the intelligent control module part does not include the object of this application, and will not be elaborated.
  • the technical advantages and effects achieved by the above-mentioned mowing robot are also not described herein.
  • the receiving module 40 is configured to receive the control command sent by the terminal 602, wherein the control command is an instruction that the terminal 602 controls the mowing robot to walk; the sampling module 42 is configured to select a plurality of sampling points in the walking path during the walking process; The recording module 44 is configured to record the location information of each sampling point.
  • the first sending module 46 is configured to send the location information of the sampling point to the terminal, so that the terminal generates the working area of the mowing robot 600 according to the location information of the sampling point.
  • the first receiving module 48 is configured to receive and save the working area sent by the terminal.
  • the terminal is provided with the second generating device shown in FIG.
  • the second generating device includes a second sending module 50 , a second receiving module 52 , a generating module 54 and a third sending module 56 .
  • the second sending module 50 is configured to send a control command to the mowing robot 600 to cause the mowing robot 600 to follow the control command;
  • the second receiving module 52 is configured to receive the plurality of records recorded during the walking process sent by the mowing robot 600 Position information of the sampling point;
  • the generating module 54 is configured to generate a working area of the mowing robot 600 according to position information of the plurality of sampling points; and the third transmitting module 56 is configured to send the working area to the mowing robot 600.
  • An embodiment of the present disclosure provides a lawn mower working area generating method, which is applied to a mowing robot 600 in a lawn mower working area generating system. Specifically, the method is applied to a smart mowing robot or a smart mowing machine.
  • the intelligent lawn mower usually includes a power supply system, an obstacle avoidance device, a control system, a mowing device 200, and a traveling device 100.
  • the power supply system may be a battery power supply system, and provides power for several other systems, and the obstacle avoidance device is usually used for detecting.
  • the environmental factors of the intelligent mower have obstacle avoidance and other detection functions, such as identifying obstacles and detecting the tilt angle of the mowing robot.
  • the control system is the core of the intelligent mower, and on the one hand, it can receive the obstacle avoidance device.
  • the signals of the mowing device 200 and the traveling device 100 are calculated, and the control of the mowing device 200 and the traveling device 100 is realized according to the calculation result.
  • a wireless communication module can be provided to communicate with the terminal to realize intelligence. Intelligent control of the lawn mower.
  • the method for generating a mower working area provided by the embodiment of the present disclosure may be applied to the foregoing control system, and a flowchart of a mower working area generating method as shown in FIG. 11 includes the following steps:
  • Step S102 Receive a control command sent by the terminal, where the control command is an instruction that the terminal controls the mowing robot to walk;
  • the terminal may be a smart terminal with a networking function, such as a mobile phone, a tablet computer, or a desktop computer, and the smart terminal An application APP matching the smart lawn mower is pre-installed to enable the user to control the intelligent lawn mower through the application APP.
  • Step S104 during the walking process, selecting a plurality of sampling points in the walking path; since the mowing robot has no visual system, during the walking process, the terminal installed with the application APP may be controlled, specifically, In order to plan a suitable working area, the user can control the mowing robot to walk on the lawn to determine the boundary of the working area. Specifically, the boundary of the working area can be taken on the lawn by the mowing robot. The way of the points is divided.
  • a positioning module can be generally disposed on the lawn mower.
  • the location information can be obtained by the positioning module.
  • the positioning module can be a GPS (Global Positioning System). , Global Positioning System) positioning module, UWB (Ultra Wide Band) positioning module, etc., because UWB positioning technology is a very low power, wireless communication technology for transmitting data at high speed in a short distance, and has anti-interference performance
  • the UWB positioning module based on the UWB technology is preferably a UWB technology based on the UWB technology.
  • the positioning module of the mowing machine in the embodiment of the present disclosure is preferably a UWB positioning module based on the UWB technology, which is strong, has a high transmission rate, a wide bandwidth, a small power consumption, and a small transmission power. In practical applications, the positioning accuracy of the UWB positioning module can reach ⁇ 3cm.
  • the location information may be geographic longitude and latitude location data corresponding to each sampling point, or may be coordinate data, such as coordinate data determined based on the location of the base station.
  • Step S108 Send location information of the sampling point to the terminal, so that the terminal generates a working area of the mowing robot according to the position information of the sampling point; specifically, the working area may be a working area in the form of an electronic map.
  • the terminal can display an interface for controlling the mowing robot through an application APP matching the smart lawn mower.
  • the application program APP can build an electronic map of the current area, or obtain an electronic map of the current area through a third-party program.
  • the sampling point when the terminal receives the location information of the sampling point, the sampling point may be displayed at a corresponding position on the electronic map, so as to generate a working area of the mowing robot, the working area includes a working area to be mowing At the same time, the user can also control the walking path of the mowing robot according to the sampling points displayed on the terminal.
  • Step S110 receiving and saving the above working area sent by the terminal.
  • the terminal can maintain the working area information and send the working area to the mowing robot; after receiving the information corresponding to the working area, the mowing robot saves the working area to Corresponding storage area, in order to perform the mowing task in the subsequent execution, automatically run to the location where the work area is located, and directly cut the grass.
  • a fixed base station is arranged near the grassland of the mowing robot, and the mowing robot is A mobile base station or a signal generator is disposed, and the number of the fixed base stations may be one, or may be set according to the area of the grass field, which is not limited by the actual disclosure.
  • the signal of the base station can usually cover the area on the grassland that needs to be mowing.
  • the number of the fixed base stations is preferably three, wherein two base stations are fixedly placed at a higher position near the grass field, and the third fixed base station can be fixed. In the past, the embodiment of the present disclosure does not limit this.
  • the process of determining the position information of the mowing robot may include the following steps: the lawn mower is provided with a signal generator and a processor, for example, a single chip microcomputer, etc., the signal generator transmits a pulse radio to the surroundings, and starts timing, the above setting When the fixed base station on the grass field receives the pulse radio, it transmits a pulse radio to the surroundings. When the signal generator receives the pulse radio transmitted by the fixed base station, it ends the timing and sends the recording time information to the processor.
  • the fixed base station corresponds to one.
  • the preset coordinates after the processor receives the above-mentioned recording time information, according to the preset coordinates, the coordinates of the mowing robot can be calculated, thereby realizing the position information of the sampling point of the mower.
  • the terminal may record in real time through the above interface, and mark the trajectory of the mowing robot on the electronic map, thereby delineating the working area that needs to be mowing, and on the interface. Simultaneously displaying the working area, at the same time, the terminal displays the position information of the sampling point on the electronic map, and in the process of marking the trajectory of the mowing robot, the marking of the sampling point may be sequentially set according to the order of receiving the sampling points. For example, the identification of the sampling point is sequentially set in the form of a serial number so that the user knows the number of sampling points and the like.
  • the area can be divided into blocks to cut the grass; if the grass field is small, the area can be demarcated at a time, and at the same time, the terminal can be further automatically divided for the work area of the mowing robot according to the position information of the sampling point. Smaller areas are cut in different areas. Specifically, the actual situation is correct. At the same time, the coordinate mode of the above-mentioned mowing robot can be set according to the actual use situation, and the embodiment of the present disclosure does not limit this.
  • the mower working area generating method can receive the control command sent by the terminal to walk, and select a plurality of sampling points in the walking path according to a preset sampling manner during the walking process, and record each sampling.
  • the position information of the point is sent to the terminal, so that the terminal generates the working area of the mowing robot according to the position information of the sampling point, and the groove is not required to be grooved on the grass, thereby maintaining the integrity of the grass.
  • it also improves the work intelligence and safety of the lawn mower, thereby improving the user experience.
  • the positioning module updates the location information in real time.
  • the update speed of the positioning data can reach about 180 times per second. Therefore, a large number of positioning can be generated during the walking of the mowing robot.
  • the data increases the burden of data storage of the mowing robot control system. Therefore, in the embodiment of the present disclosure, the manner of selecting a plurality of sampling points in the walking path according to a preset sampling manner can effectively avoid generating a large amount of positioning data. At the same time, it can also meet the requirements of work area division.
  • the step of selecting a plurality of sampling points in the walking path includes the following process:
  • the sampling instruction sent by the receiving terminal is used for sampling; generally, for any shape of grassland, the mowing robot can not directly sample, but the user controls walking to find the best area for automatic mowing, when receiving After the sampling instruction sent by the user terminal, the sampling operation is performed.
  • the first sampling point is set as the starting point, and the sampling points in the walking path are sequentially selected according to the preset sampling manner; wherein the sampling mode includes a time sampling mode or a distance sampling mode; generally, the positioning data of the positioning module includes The time attribute and the distance attribute, therefore, the above sampling method may include a time sampling method, and may also include a distance sampling method.
  • the time sampling method can calculate the driving time by the mowing robot, and select one sampling point in the walking path every time interval.
  • the program of the method is simple to implement, and the sampling result can also reflect the shape of the working area more realistically, but the cutting is performed.
  • the actual speed of the grass robot may be different during the actual driving process, and even stop midway.
  • the local position may be too dense, resulting in an electronic map showing the imbalance of the weight of each sampling point, which has a certain impact on data processing. .
  • the distance sampling method usually refers to the determination of each positioning data during the walking process of the mowing robot. Only when the real-time distance forms a certain distance difference from the last recorded coordinate, the point is recorded, and the new coordinate is sampled, and the beneficial effect is obtained. Yes, regardless of the operating state of the mowing robot during the whole sampling process, the boundary data of the working area is a relatively uniform set of coordinate points of the sampling points, which can approximate the real boundary curve without local data intensive situations. In addition, by using distance sampling, it is also convenient to change the sampling distance value and change the density of the boundary data, thereby changing the maximum value of the recordable map.
  • the user can set which sampling mode to select specifically. For example, for a grassland with a flat terrain, the walking speed of the mowing robot can be set to a constant speed through the terminal, and the time sampling method is adopted to select the walking path. Multiple sampling points; for unfamiliar or relatively complex grassland, the sampling mode can be set to the distance sampling mode to avoid the situation where the local position is too dense, and the specific sampling mode can be set according to the actual use.
  • the setting is made, and the embodiment of the present disclosure does not limit this.
  • the mower completes sampling by judging the distance threshold, that is, by calculating the distance between each sampling point and the starting point, for each sampling point. Judging from the distance from the starting point, if the distance is less than the preset distance threshold, it can be determined that the mowing robot once again obtains the coordinates near the starting point in the process of walking around the grassland boundary, that is, the lawn mower has walked back along the boundary. Near the starting point, it can be considered that the sampling point is over and the sampling point is stopped. This way of judging effectively avoids data gaps in the last segment of the walking path caused by the user's self-end of sampling, and it is difficult to ensure the integrity of the data recorded in the final record, and also ensures the stability of the data.
  • the setting of the distance threshold may be calculated by the selected sampling point. For example, when the second sampling point is selected, the distance between the second sampling point and the starting point may be calculated, and the distance is less than the fixed value. The distance value is set to the distance threshold. Therefore, during the normal sampling process, the distance between each sampling point and the starting point will be greater than the distance threshold.
  • the user controls the mowing robot to walk along the grassland boundary for one week and return to the vicinity of the starting point, The situation that the distance threshold is less than the above occurs again, and at this time, the sampling point can be stopped.
  • the distance threshold may be set to be smaller than a fixed value of the sampling distance value. Therefore, the distance between each sampling point and the starting point is usually greater than the distance value, when the user controls the mowing robot to walk along the grassland boundary. One week, when returning to the vicinity of the starting point, the situation less than the above distance threshold will appear again. At this time, the sampling point can be stopped.
  • the above distance threshold may also be set by the user.
  • the distance between each sampling point and the starting point is changed from small to large, and from large to large. In the small process, when the distance between the sampling point and the starting point is less than the preset distance threshold, the sampling point can be stopped.
  • the setting process of the foregoing distance threshold may be set according to an actual situation, which is not limited by the embodiment of the present disclosure.
  • the mower working area generating method further includes the following process: receiving an editing command of the working area sent by the terminal, and editing the working area according to the editing command.
  • the above editing process may include the following steps:
  • the control command sent by the receiving terminal walking in the non-working area edge included in the working area according to the control instruction;
  • the non-working area may be the above-mentioned obstacle area;
  • the non-work area may be deleted from the above working area by multiple editing.
  • the non-work area in the work area may be filled, for example, by filling different colors to distinguish the work area from the non-work area.
  • FIG. 12 shows a schematic diagram of a working area, wherein the area indicated by A is a working area, which can be understood to include a plurality of coordinate points arranged in an array, which need to be cut.
  • the grass machine traverses to complete the mowing; the areas indicated by B and C are the non-working areas deleted from the working area A by the above-described editing method, and the coordinate points of the areas where the B and C are located are cleared, so that only the A area is removed.
  • the B area is further removed from the coordinate point of the C area, and after the mowing robot 600 traverses the coordinate point of the work area after the removal of the non-working area, the mowing task of the lawn can be completed.
  • the mowing robot 600 can realize the task of automatically mowing in the above-defined area, and specifically, the mowing machine working area generating method provided by the embodiment of the present disclosure
  • the method further includes the following steps: setting the walking route of the mowing robot 600 according to the pre-set walking manner based on the above working area; and saving the walking route so that the mower can automatically walk in the working area to perform the mowing task.
  • the mowing robot 600 can position the real-time coordinates when the grass is mowing, acquire the position information, and control the walking path to be cut in the above-defined working area.
  • the serpentine type mowing is adopted, and of course, different mowing forms may be selected according to the divided area shape and other features of the lawn.
  • the mowing robot 600 stops and Turn.
  • the mowing robot 600 can also record the coordinates of the mowing and the coordinates of the mowing, and display the mowing area and the mowing position on the electronic map of the terminal.
  • the user can also set a smaller mowing area on the electronic map to control the mowing robot 600 to first mowing the set area.
  • the mowing robot 600 can continue to save the current working area, so that when the mowing task is performed on the same pasture next time, the mowing can be directly performed according to the working area without regenerating the working area. Further, It is also possible to re-define the mowing range every time, and to generate a new working area, which is based on the actual situation, and the embodiment of the present disclosure does not limit this.
  • the embodiment of the present disclosure further provides another mower working area generating method, which is applied to the terminal in the mower working area generating system, specifically The terminal is communicatively coupled to the mowing robot 600, as shown in FIG. 13 is a flowchart of another method for generating a mower working area, the method comprising the following steps: Step S302, sending a control command to the mowing robot 600, The mowing robot 600 is caused to follow the control command; in step S304, the position information of the plurality of sampling points recorded during the walking process sent by the mowing robot 600 is received; and in step S306, the mowing robot 600 is generated according to the position information of the plurality of sampling points.
  • the terminal can set the first sampling point as the starting point in the process of generating the working area, sequentially display the sampling points, and further draw the curve according to the plurality of sampling points; and set the closed area enclosed by the curve as the working area.
  • Step S308 the work area is sent to the mowing robot 600.
  • the method further includes: transmitting an editing command of the working area to the mowing robot 600, so that the mowing robot 600 edits the working area according to the editing command, for example, deleting the non-working area in the working area, and the like, so as to For generating a suitable work area.
  • the mower working area generating method can send a control command to the mowing robot 600, control the mowing robot 600 to walk, and receive each sent by the mowing robot 600 during the walking of the mowing robot 600.
  • the position information of the sampling points, and the working area of the mower is generated according to the position information of the sampling point, and the groove is not required to be grooved on the grass, and the integrity of the grass is maintained, and the level is improved.
  • the work intelligence and security of the mowing robot 600 further enhances the user experience.
  • the embodiment of the present disclosure further provides a computer storage medium for storing computer program instructions, and when the computer executes the computer program instructions, the mower working area generating method of the above embodiment is executed.
  • the computer program product of the lawnmower work area generating system and the generating method provided by the embodiment of the present disclosure includes a computer readable storage medium storing program code, and the program code includes instructions for executing the method described in the foregoing method embodiment.
  • the program code includes instructions for executing the method described in the foregoing method embodiment.
  • the functions may be stored in a computer readable storage medium if implemented in the form of a software functional unit and sold or used as a standalone product. Based on such understanding, the portion of the technical solution of the present disclosure that contributes in essence or to the prior art or the portion of the technical solution may be embodied in the form of a software product stored in a storage medium, including The instructions are used to cause a computer device (which may be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present disclosure.
  • the foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like. .
  • the mowing robot, the mower working area generating system, the generating method, the obstacle avoiding device and the automatic mowing system provided by the embodiment drive the walking process and the mowing process through a set of walking motors, thereby making the number of driving devices Less, reducing energy consumption, improving energy efficiency, and making the mower overall compact and compact, with the advantages of simple structure, light weight and low cost.

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Abstract

一种割草机器人（600）、割草机工作区域生成系统、生成方法、避障装置及自动割草系统，涉及割草设备的技术领域。该割草机器人（600）包括支撑架(300)、壳体(400)、行走装置(100)、割草装置(200)以及电控装置；行走装置(100)包括传动连接的行走电机(110)和行走主动轮（120），壳体(400)扣装在支撑架(300)上，壳体(400)底部设有行走从动轮（410），行走主动轮（120）上设置有内齿结构（121），割草装置(200)的输入端设置有与内齿结构（121）相啮合的第一齿轮（214）。该割草机控制方法用于控制上述割草机器人（600）割草；该割草机工作区域生成系统及方法包括上述割草机器人（600）和终端，能够控制割草机器人（600）在设定工作区域工作；该避障装置、自动割草系统包括上述割草机器人（600）。该割草机器人（600）具有结构简单、质量轻便、成本低等优势。

Description

割草机器人、割草机工作区域生成系统、生成方法、避障装置及自动割草系统
相关申请的交叉引用
本申请要求于2018年02月13日提交中国专利局的申请号为201810151151.5、名称为“割草机器人及智能割草机器人”、2018年08月15日提交中国专利局的申请号为201810933497.0、名称为“割草机工作区域生成方法、装置及系统”、2018年02月13日提交中国专利局的申请号为201820257830.6、名称为“避障装置及割草机器人”、2018年02月13日提交中国专利局的申请号为201810151153.4、名称为“一种自动割草系统和割草机控制方法”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及割草设备的技术领域，尤其涉及一种割草机器人、割草机工作区域生成系统、生成方法、避障装置及自动割草系统。
背景技术
现有技术中的割草机器人基本采用轮式行走，结构简单，机动性能好，但该割草机器人的轮子通过动力机构驱动，仅限于行走，且割草装置通过另外的动力机构进行驱动，由此，割草机器人的行走动力与割草动力相互独立，动力机构数量多，无形中增加了能耗。
基于以上问题，提出一种行走与割草采用相同动力机构的割草机器人显得尤为重要。
公开于该背景技术部分的信息仅仅旨在加深对本公开的总体背景技术的理解，而不应当被视为承认或以任何形式暗示该信息构成已为本领域技术人员所公知的现有技术。
发明内容
本公开的目的包括提供一种割草机器人、割草机工作区域生成系统、生成方法、避障装置及自动割草系统，以缓解现有技术中由于行走动力与割草动力相互独立而增加制造成本、增加能耗的问题。
为了解决上述技术问题中的至少一个，本公开采取的技术手段包括：
本公开提供的一种割草机器人，包括支撑架、壳体、行走装置、割草装置以及电控装置；所述行走装置包括行走电机和行走主动轮，所述行走电机及所述行走主动轮均设置在所述支撑架上，且所述行走电机与所述行走主动轮传动连接；所述壳体扣装在所述支撑架上，且所述壳体的底部设置有与所述行走主动轮配合使用的行走从动轮；所述行走主动轮上设置有内齿结构，所述割草装置的输入端设置有与所述内齿结构相啮合的第一齿轮；所述行走电机能够驱动所述行走主动轮转动，使割草机器人行走，并由所述行走主动轮同步带动所述割草装置作业。
可选的，所述行走电机的转轴上设置有第二齿轮，所述第二齿轮与所述内齿结构相啮合；或，所述第二齿轮与所述第一齿轮相啮合。
可选的，所述行走电机的转轴上设置有第二齿轮，所述第二齿轮与所述内齿结构相啮合，所述支撑 架上枢接有第三齿轮，所述第三齿轮啮合连接于所述第二齿轮与所述第一齿轮之间。
可选的，所述行走主动轮的转轴与所述行走电机的转轴上均设置有带轮，且所述行走主动轮转轴上的带轮与所述行走电机转轴上的带轮之间通过传动带连接。
可选的，所述行走主动轮为两个，两个所述行走主动轮之间连接有驱动轴，两个所述行走主动轮通过所述驱动轴枢接于所述支撑架上，且分别位于所述支撑架的左右两侧；所述割草装置包括滚刀组件和可调节托板组件，所述滚刀组件枢接于所述支撑架上，并位于两个所述行走主动轮之间，所述第一齿轮设置于所述滚刀组件上；所述可调节托板组件设置在所述支撑架上，且位于所述滚刀组件的下方，所述可调节托板组件与所述滚刀组件相互配合使用，执行割草动作。
可选的，所述滚刀组件包括转动轴、多个固定件和多个刀片，所述转动轴可转动地设置在所述支撑架上，且所述转动轴的至少一端与所述第一齿轮连接；多个所述固定件间隔固定设置在所述转动轴上，各个所述刀片均固定安装在多个所述固定件的外缘上。
可选的，所述可调节托板组件包括托板、调节手轮和调节杆，所述托板长度方向的两端均设有连接臂，两个所述连接臂分别与所述支撑架的左右两侧枢接；所述支撑架上设置有连接耳，所述调节杆穿过所述连接耳，且所述调节杆的一端与所述调节手轮连接，另一端与所述托板的连接臂连接，所述调节杆能够带动所述托板的连接臂靠近或者远离所述连接耳，所述连接臂绕枢接处转动，并带动所述托板相对于所述支撑架转动。
可选的，所述连接耳及所述托板的连接臂上均开设通孔，所述调节杆依次穿过所述连接臂及所述连接耳上的通孔，且所述调节杆端部的截面尺寸大于所述连接臂上通孔的截面尺寸；所述调节杆上套设有回位弹簧，所述回位弹簧位于所述连接耳与所述连接臂之间；所述支撑架上位于所述连接耳与所述调节手轮之间的位置处设置有带有螺纹孔的调节螺母，且所述调节杆上靠近所述调节手轮处设置有螺纹结构，所述调节杆通过所述螺纹结构与所述调节螺母之间螺纹连接。
可选的，所述壳体的前端处设置有避障装置，所述避障装置包括罩体、多组超声波发生器和多组红外线传感器；所述罩体的前端部设置有喇叭口结构，且多组所述红外线传感器排布在所述喇叭口结构的底部，多组所述超声波发生器设置在所述喇叭口结构的侧壁上；所述喇叭口结构的开口设置为20°-140°；所述超声波发生器、所述红外线传感器均与所述电控装置电连接。
本公开提供一种割草机工作区域生成系统，包括终端和上述割草机器人，所述终端与所述割草机器人通信连接。
可选的，所述割草机器人或所述终端上设有图像显示模块，所述割草机器人上设有定位模块，所述图像显示模块、所述定位模块均与所述割草机器人的电控装置连接，所述定位模块每隔预设时间间隔向所述电控装置发送所述割草机器人位置信息，所述电控装置根据所述定位模块发送的位置信息生成已完成割草的第一工作区域图像，向所述图像显示模块发送第一工作区域图像信息；所述图像显示模块配置成根据所述第一工作区域图像信息显示所述第一工作区域图像。
可选的，所述割草机器人上设有第一生成装置，所述第一生成装置包括：
接收模块，配置成接收终端发送的控制指令，其中，所述控制指令为所述终端控制所述割草机器人行走的指令；
取样模块，配置成在行走过程中，选取行走路径中的多个取样点；
记录模块，配置成记录每个所述取样点的位置信息；
第一发送模块，配置成将所述取样点的位置信息发送至所述终端，以使所述终端根据所述取样点的 位置信息生成所述割草机器人的工作区域；
第一接收模块，配置成接收并保存所述终端发送的所述工作区域。
可选的，所述终端包括第二生成装置，所述第二生成装置包括：
第二发送模块，配置成向所述割草机器人发送控制指令，以使所述割草机器人按照所述控制指令行走；
第二接收模块，配置成接收所述割草机器人发送的行走过程中记录的多个取样点的位置信息；
生成模块，配置成根据多个所述取样点的位置信息生成所述割草机器人的工作区域；
第三发送模块，配置成将所述工作区域发送至所述割草机器人。
本公开还提供一种割草机工作区域生成方法，应用于上述割草机工作区域生成系统中的割草机器人上，所述方法包括：
所述割草机器人接收终端发送的控制指令，其中，所述控制指令为所述终端控制所述割草机器人行走的指令；
在行走过程中，选取行走路径中的多个取样点；
记录每个所述取样点的位置信息；
将所述取样点的位置信息发送至所述终端，以使所述终端根据所述取样点的位置信息生成所述割草机器人的工作区域；
接收并保存所述终端发送的所述工作区域。
可选的，所述选取行走路径中的多个取样点的步骤包括：
接收所述终端发送的取样指令进行取样；
将首个取样点设置为起点，按照预先设置的取样方式依次选取行走路径中的取样点；其中，所述取样方式包括时间取样方式，或者距离取样方式；
计算每个所述取样点与所述起点的距离，当所述距离小于预先设置的距离阈值时，停止选取所述取样点。
可选的，所述方法还包括：
接收所述终端发送的所述工作区域的编辑命令，根据所述编辑命令对所述工作区域进行编辑，编辑步骤包括：
在所述工作区域中，接收所述终端发送的所述控制指令，按照所述控制指令在所述工作区域中包含的非工作区边缘行走；
在行走过程中，按照预先设置的所述取样方式选取所述非工作区边缘的多个取样点；
将多个所述取样点发送至所述终端，以使所述终端在所述工作区域中绘制所述非工作区边缘，以及，将所述非工作区从所述工作区域中删除；
接收并保存删除所述非工作区的所述工作区域。
本公开还提供一种割草机工作区域生成方法，所述方法应用于上述割草机工作区域生成系统中的终端上，所述方法包括：
向所述割草机器人发送控制指令，以使所述割草机器人按照所述控制指令行走；
接收所述割草机器人发送的行走过程中记录的多个取样点的位置信息；
根据多个所述取样点的位置信息生成所述割草机的工作区域；
将所述工作区域发送至所述割草机器人。
可选的，所述根据多个所述取样点对应的位置信息生成所述割草机器人的工作区域的步骤包括：
以首个所述取样点为起点，根据多个所述取样点绘制曲线；
将所述曲线围成的封闭区域设置为所述工作区域。
本公开还提供一种割草机工作区域生成方法，所述方法应用于割草机器人，所述方法包括：
接收终端发送的控制指令，其中，所述控制指令为所述终端控制所述割草机器人行走的指令；
在行走过程中，选取行走路径中的多个取样点；
记录每个所述取样点的位置信息；
将所述取样点的位置信息发送至所述终端，以使所述终端根据所述取样点的位置信息生成所述割草机器人的工作区域；
接收并保存所述终端发送的所述工作区域。
本公开还提供一种避障装置，包括：装置本体，所述装置本体用于安装在需要避障的基体上；所述装置本体包括罩体、超声波发生器和红外线传感器；所述罩体的前端部设置有喇叭口结构，且多组所述红外线传感器排布在所述喇叭口结构的底部，多组所述超声波发生器设置在所述喇叭口结构的侧壁上；所述喇叭口结构的开口设置为20°-140°。
本公开还提供一种自动割草系统，包括：割草机器人、设置于割草机器人上的超声波发生器和电控装置；所述超声波发生器与所述电控装置连接，所述超声波发生器用于检测所述割草机器人行走路径上的障碍物，并在检测到障碍物时向所述电控装置发送障碍物信息；所述电控装置和割草机器人的行走装置连接，根据所述障碍物信息确定行走路线，并控制所述行走装置按照所述行走路线行走，以避让所述障碍物。
与现有技术相比，本公开提供的一种割草机器人所具有的技术优势包括：
本公开提供的一种割草机器人，包括支撑架、壳体、行走装置、割草装置和电控装置，其中，行走装置和割草装置均设置在支撑架上，行走装置包括行走电机和行走主动轮，且行走电机与行走主动轮传动连接；而行走主动轮分别安装在支撑架左右方向的两侧，可以是两驱，也可以是四驱，且每个行走主动轮上配备一个行走电机进行驱动，这样一来，由电控装置控制各个行走电机工作，以实现行走主动轮的驱动过程；壳体扣装在支撑架上，且在壳体的底部设置有行走从动轮，在行走主动轮的驱动作用下，行走从动轮随动，以此实现整个割草机器人的行走过程。
行走主动轮上设置有内齿结构，而割草装置的输入端设置有第一齿轮，且第一齿轮与内齿结构相啮合，当行走主动轮转动时，通过内齿结构带动第一齿轮旋转，并由第一齿轮同步带动割草装置中的刀具旋转，从而能够实现在行走的过程中进行割草作业。
该割草机器人的具体工作过程为：
将割草机器人放置草坪上，按下启动按钮，使割草机器人开始工作，在电控装置的供电、控制作用下，相互配合安装的行走电机和行走主动轮根据实际需求进行旋转，在行走电机的驱动作用下，行走主动轮能够进行旋转，并通过内齿结构带动第一齿轮旋转，进一步由第一齿轮带动割草装置中的刀具高速旋转，以实现对草的切割，由此实现了在行走过程中同步实现了割草，达到了一举两得的目的。
本公开提供的割草机器人，将行走过程、割草过程通过一套行走电机来实现驱动，从而使得驱动装置数量少，降低了能源消耗，提高了能源利用率，同时使割草机整体结构紧凑、体积缩小，有效缓解了与割草功能分开和传统割草机结构复杂的缺点，具有结构简单、质量轻便、降低成本等优势。
附图说明
为了更清楚地说明本公开具体实施方式或现有技术中的技术方案，下面将对具体实施方式或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本公开的一些实施方式，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本公开实施例提供的割草机器人的结构示意图；
图2为本公开实施例提供的割草机器人的另一视角结构示意图；
图3为图1所示的割草机器人中壳体的结构示意图；
图4为图1中所示的割草机器人中行走装置及割草装置的第一装配示意图；
图5为图4中可调节托板组件与支撑架连接的结构示意图；
图6为图1中所示的割草机中行走装置及割草装置的第二装配示意图；
图7为本公开实施例提供的行走电机、行走主动轮及割草装置的装配示意图；
图8为本公开实施例提供的割草机器人中避障装置的结构示意图；
图9为本公开实施例提供的割草机器人中避障装置采用交叉对射方式的示意图；
图10为现有技术中超声波发生器采用同排设置方式的示意图；
图11为本公开实施例提供的割草机工作区域生成方法的流程图；
图12为本公开实施例提供的一种工作区域的示意图；
图13为本公开实施例提供的另一种割草机工作区域生成方法的流程图；
图14为本公开实施例提供的割草机工作区域生成系统中第一生成装置的结构示意图；
图15为本公开实施例提供的割草机工作区域生成系统中第二生成装置的结构示意图；
图16为本公开实施例提供的割草机工作区域生成系统的结构框图；
图17为本公开实施例提供的割草机工作区域生成系统中避障装置、电控装置、图像显示模块与定位模块之间连接的框架示意图；
图18为本公开实施例提供的割草机器人中电控装置的框架示意图；
图19为本公开实施例提供的割草机器人的模块示意图；
图20为本公开实施例提供的割草机器人中控制方法的电控装置与图像显示模块的交互流程图。
图标：100-行走装置；110-行走电机；120-行走主动轮；121-内齿结构；130-第二齿轮；200-割草装置；210-滚刀组件；211-固定件；212-刀片；213-转动轴；214-第一齿轮；220-可调节托板组件；221-托板；2211-连接臂；222-调节手轮；223-调节杆；224-转动螺钉；225-限位螺钉；226-回位弹簧；227-调节螺母；300-支撑架；310-连接耳；400-壳体；410-行走从动轮；420-超声波发生器；430-触碰开关；440-红外线传感器；450-定位模块；4501-无线传输单元；4502-单片机；460-图像显示模块；500-电控装置；510-电机控制单元；600-割草机器人；602-终端；700-罩体；710-喇叭口结构；711-侧面；712-底面；800-太阳能板；900-摄像头；40-接收模块；42-取样模块；44-记录模块；46-第一发送模块；48-第一接收模块；50-第二发送模块；52-第二接收模块；54-生成模块；56-第三发送模块。
具体实施方式
下面将结合附图对本公开的技术方案进行清楚、完整地描述，显然，所描述的实施例是本公开一部 分实施例，而不是全部的实施例。基于本公开中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本公开保护的范围。
在本公开的描述中，需要说明的是，术语“中心”、“上”、“下”、“左”、“右”、“竖直”、“水平”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本公开和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本公开的限制。此外，术语“第一”、“第二”、“第三”仅用于描述目的，而不能理解为指示或暗示相对重要性。
在本公开的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接，还可以是通信连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本公开中的具体含义。
具体结构如图1-图7所示。本实施例提供的一种割草机器人(又名割草机)，包括支撑架300、壳体400、行走装置(又名行走系统)100、割草装置200和电控装置(又名控制模块)，其中，行走装置100和割草装置200均设置在支撑架300上，行走装置100包括行走电机(又名车轮驱动机构)110和行走主动轮120，且行走电机110与行走主动轮120传动连接；而行走主动轮120分别安装在支撑架300左右方向的两侧，可以是两驱，也可以是四驱，且每个行走主动轮120上配备一个行走电机110进行驱动，这样一来，由电控装置(包括电源系统和控制系统)控制各个行走电机110工作，以实现行走主动轮120的驱动过程；壳体400扣装在支撑架300上，且在壳体400的底部设置有行走从动轮410，在行走主动轮120的驱动作用下，行走从动轮410随动，以此实现整个割草机器人的行走过程。需要说明的是，本实施例中，行走从动轮410可以采用万向轮的形式，以方便于割草机器人的行走、转弯。
行走主动轮120上设置有内齿结构121，而割草装置200的输入端设置有第一齿轮214，且第一齿轮214与内齿结构121相啮合，当行走主动轮120转动时，通过内齿结构121带动第一齿轮214旋转，并由第一齿轮214同步带动割草装置200中的刀具旋转，从而能够实现在行走的过程中进行割草作业。
该割草机器人的具体工作过程为：将割草机器人放置草坪上，按下启动按钮，使割草机器人开始工作，在电控装置的控制作用下，相互配合安装的行走电机110和行走主动轮120根据实际需求进行旋转，在行走电机110的驱动作用下，行走主动轮120能够进行旋转，并通过内齿结构121带动第一齿轮214旋转，进一步由第一齿轮214带动割草装置200中的刀具高速旋转，以实现对草的切割，由此实现了在行走过程中同步实现了割草，达到了一举两得的目的。
本实施例提供的割草机器人包括以下优点：将行走过程、割草过程通过一套行走电机110来实现驱动，从而使得驱动装置数量少，降低了能源消耗，提高了能源利用率，同时使割草机整体结构紧凑、体积缩小，有效缓解了与割草功能分开和传统割草机结构复杂的缺点，具有结构简单、质量轻便等优势。
本实施例中，行走电机110与行走主动轮120之间传动连接的方式可以包括以下四种，具体为：可以在行走电机110的转轴上设置有第二齿轮130；行走电机110固定安装在支撑架300上，且与电控装置500连接，行走电机110的第二齿轮130与内齿结构121相啮合，通过电控装置开启行走电机，行走电机带动第二齿轮转动，第二齿轮与内齿结构啮合传动带动行走主动轮转动，内齿结构转动又可以通过第一齿轮带动割草装置转动割草，实现行走电机同时驱动行走主动轮和割草装置的运行；或，在上述传动方式的基础上，在支撑架上枢接有第三齿轮，第三齿轮同时与第一齿轮、第二齿轮啮合配合，通过电控装置开启行走电机，行走电机带动第二齿轮转动，第二齿轮一方面通过内齿结构带动第一齿轮转动， 另一方面通过第三齿轮对第一齿轮的转动进行二次驱动，即，第二齿轮作为一个驱动源通过两条路径同时对第一齿轮进行相同方向、转速的驱动，从而减少仅通过单条路径驱动第一齿轮转动时，第一齿轮与内齿结构之间出现打滑等现象，而导致第一齿轮无法正常工作情况的发生，通过双重限制确保第一齿轮正常工作，并提高第一齿轮的转动精度，同时，第三齿轮啮合在第一齿轮、第二齿轮之间，机械结构上相比于两个齿轮来说更加稳定；或，第二齿轮也可以与第一齿轮啮合，第二齿轮转动时，带动第一齿轮转动，第一齿轮带动内齿结构转动，也可以实现行走电机同时带动行走主动轮和割草装置运行；或，可以在行走主动轮120于轴心处固接有驱动轴，驱动轴和行走电机110的转轴上均设置有带轮，且行走主动轮120驱动轴上的带轮与行走电机110转轴上的带轮之间通过传动带连接，两个带轮之间通过传动带连接，此种方案中，行走电机110依然固定安装在支撑架300上，承受来自传动带的张紧力。
除了上述四种传动方式之外，还可以是其他能够实现驱动的方式。另外，行走主动轮120可以为一个、两个或多个，当两侧的行走主动轮120均与驱动轴固定连接时，只需要驱动其中一个行走主动轮120便可通过驱动轴带动另一个行走主动轮120转动，以实现行走；或者，当两侧的行走主动轮120均套设在驱动轴上，且相互独立，此时，两侧的行走主动轮120分别装配行走电机110，通过各自的行走电机110分别驱动两侧的行走主动轮120，以实现行走。本实施例中，优选为，采用两侧行走主动轮120相互独立驱动的方式。
本实施例中，如图1、图4和图6所示，行走主动轮120为两个，两个行走主动轮120之间连接有驱动轴，两个行走主动轮120通过驱动轴枢接于支撑架300上，且分别位于支撑架300的左右两侧；割草装置200包括滚刀组件210和可调节托板组件220，滚刀组件210可转动地设置在支撑架300上，并位于两个行走主动轮120之间，第一齿轮214设置于滚刀组件210上；可调节托板组件220设置在支撑架300上，且位于滚刀组件210的下方，可调节托板组件220与滚刀组件210相互配合使用，执行割草动作。当割草机器人行走时，由行走主动轮120带动割草装置200工作，使滚刀组件210能够旋转，通过滚刀组件210以及可调节托板组件220的相互配合使用，能够对草进行切割，并且，通过调节可调节托板组件220与滚刀组件210之间的距离以实现针对不同高度的草进行切割。
本实施例中，如图6所示，滚刀组件210包括转动轴213、多个固定件211和多个刀片(又名滚刀)212，转动轴213可转动地设置在支撑架300上，且转动轴213的至少一端与第一齿轮214连接；多个固定件211间隔固定设置在转动轴213上，各个刀片212均固定安装在多个固定件211的外缘上，且多个刀片212沿转动轴213的周向分散分布。这里是滚刀组件210的一种具体形式，工作时，行走电机110驱动行走主动轮120转动，行走主动轮120的内齿结构121通过第一齿轮214带动转动轴213转动，进而带动多个刀片212绕转动轴213的周向转动，与可调节托板组件220相互配合进行割草动作；具体的，多个刀片可以沿转动轴的周向均匀排布，以提高滚刀组件与可调节托板组件的配合均匀度，相应提高割草装置割草的均匀性。
具体的，如图6所示，固定件211可以采用板状结构，并在该板状结构的边缘开设多个卡接槽，将多个固定件211并排间隔设置在转动轴213上，并能够随着转动轴213进行旋转；将各个刀片212插入到卡接槽中，实现刀片212的固定安装，进一步的，刀片212可以采用空间曲面结构，而刀片212插入的各个固定件211上的卡接槽呈错位排布，通过刀片212的设计，更有利于割草。
转动轴213的至少一端设置第一齿轮214，可以是一端提供动力，也可以是两端提供动力，而第一齿轮214与内齿结构121相啮合，从而，当割草机器人行走时，行走主动轮120旋转，通过第一齿轮214带动转动轴213旋转，并由转动轴213同步带动固定架、刀片212进行旋转，而草在刀片212和可调节 托板组件220的共同作用下被切割。
本实施例的可选技术方案中，如图4-图6所示，可调节托板组件220可以包括托板221、调节手轮222和调节杆223，托板221长度方向的两端均设有连接臂2211，两个连接臂2211分别与支撑架300宽度方向的两侧枢接；支撑架300上设置有连接耳310，调节杆223穿过连接耳310，且调节杆223的一端与调节手轮222连接，调节杆223的另一端与托板221的连接臂2211连接，调节杆223能够带动托板221的连接臂2211靠近或者远离连接耳310，连接臂2211绕枢接处转动，并带动托板221相对于支撑架300转动。
本实施例的可选技术方案中，连接耳310及托板221上均开设通孔，调节杆223依次穿过托板221及连接耳310上的通孔，且调节杆223端部的截面尺寸大于托板221上的通孔的截面尺寸；调节杆223上套设有回位弹簧226，回位弹簧226位于连接耳310与托板221之间；支撑架300上位于连接耳310与调节手轮222之间的位置处设置有带有螺纹孔的调节螺母227，且调节杆223上靠近调节手轮222处设置有螺纹结构，使得调节杆223与调节螺母227之间螺纹连接。
需要指出的是，为了实现对不同高度的草进行切割，本实施例中在滚刀组件210的下方设置了可调节托板组件220，其包括托板221、调节手轮222和调节杆223，托板221长度两端的连接臂2211分别与支撑架300靠近行走主动轮120的位置转动连接，即托板221长度方向两端的连接臂2211分别与支撑架300通过转动螺钉224进行安装，并使得托板221能够围绕转动螺钉224相对于支撑架300转动一定角度。具体为，调节杆223的一端与托板221的连接臂2211连接，另一端与调节手轮222连接，调节杆223穿过托板221和连接耳310，当调节杆223向外或者向内移动时，通过驱动连接臂2211绕转动螺钉224转动，进而能够带动托板221同步围绕转动螺钉224旋转，以实现托板221与刀片212之间的距离及角度，从而能够改变割草高度。
第一种调节方案为：调节杆223的一端与托板221端部的连接臂2211铰接，另一端与调节手轮222固定连接，且调节杆223与连接耳310之间采用螺纹连接，由此，当旋拧调节手轮222时，带动调节杆223相对于连接耳310转动，进一步使调节杆223能够相对于连接耳310移动，并同步带动托板221的端部靠近或者远离连接耳310，最终使托板221围绕转动螺钉224转动一定角度。
第二种调节方案为：如图5所示，托板221端部的连接臂2211上开设通孔，连接耳310上开设通孔，调节杆223的一端的横截面尺寸较大，以至于该端不能够通过托板221端部连接臂2211的通孔，这样一来，调节杆223依次穿入连接臂2211和连接耳310上的通孔，并且，在支撑架300上设置调节螺母227，调节杆223与调节螺母227之间采用螺纹连接，当旋拧调节手轮222时，调节杆223能够相对于调节螺母227转动和移动，由此能够拉动托板221端部的连接臂2211靠近连接耳310，实现托板221围绕转动螺钉224向一个方向转动；为实现托板221围绕转动螺钉224向另一个方向转动，本实施例中，在托板221端部的连接臂2211与连接耳310之间设置了回位弹簧226，该回位弹簧226套设在调节杆223上，这样一来，当反向旋拧调节手轮222时，在回位弹簧226作用下，托板221端部的连接臂2211远离连接耳310，实现了托板221围绕转动螺钉224向另一个方向转动。因此，该种方案同样能够实现调节托板221与刀片212之间的角度和高度，以实现调节割草高度的目的，使割草机器人能够适应各种高度的草。
进一步的，可以在支撑架300上开设有限位孔，而托板221端部的连接臂2211上设置有限位螺钉225，当托板221围绕转动螺钉224转动时，限位螺钉225能够在限位孔中移动，且在限位孔的限位作用下，通过限制限位螺钉225的行程，限制连接臂2211及托板221的转动角度，使托板221不会转动 过大。
本实施例的可选技术方案中，如图2和图8所示，壳体400的前端处设置有避障装置(又名传感器系统)，避障装置包括罩体700、多组超声波发生器(超声波探测器)420和多组红外线传感器440；罩体700的前端部设置有喇叭口结构710，且多组红外线传感器440排布在喇叭口结构710的底部，多组超声波发生器420设置在喇叭口结构710的侧壁上；喇叭口结构710的开口设置为20°-140°；超声波发生器420、红外线传感器440均与电控装置500电连接。喇叭口结构710的开口设计为20°-140°，相应的，相对设置的各组超声波发生器420所发出的超声波中心线之间的夹角范围为40°-160°，且罩体700的底面712与侧面711之间的夹角范围为100°-160°；这样一来，如图9所示，相对设置的各组超声波发生器420发出的超声波则能够在罩体700前方一定距离处形成交叉区域，从而能够对交叉区域内的障碍物进行识别，且能够对超声波发射方向的障碍物进行识别，以此提升检测障碍物的能力，效果要优于现有技术中，如图10所示的平行设置的超声波发生器对障碍物的检测。
进一步的，通过将红外线传感器440设置在喇叭口结构710的底部，使得喇叭口结构710能够对红外线传感器440进行遮挡，有效缓解外部阳光直接照射在红外线传感器440上而对其产生干扰，进而影响检测障碍物精度的问题。
并且，通过红外线传感器440与超声波发生器420协同作用，不仅能够通过红外线传感器440对前方的障碍物进行检测，还能够通过超声波发生器420对斜前方的障碍物进行检测，且通过超声波交叉而增大识别区域和识别精度，进而在罩体700前方形成两道检测网，提升了整个避让装置的检测效率。
本实施例提供的避障装置具有以下优点：1、通过喇叭口结构710的设置，使相对设置的超声波发生器420所发出的超声波交叉对射，从而增大识别区域面积，提高识别精度；2、通过喇叭口结构710的设置，能够对红外线传感器440进行遮挡，有效缓解了阳光对红外线传感器440的干扰，提高了检测精度。
本实施例中，为安装红外线传感器440和超声波发生器420，分别在喇叭口结构710的侧面711和底面712开设第一开孔和第二开孔，并将红外线传感器440安装在第一开孔中，且红外线传感器440发出的红外线能够从第一开孔射出，以便于能够识别位于基体前方的障碍物；同样的，将超声波发生器420设置在第二开孔处，且超声波能够从第二开孔射出，由于相对的侧面711之间设置有一定夹角，使得从相对侧面711上的第二开孔中射出的超声波能够相互交叉，并在基体的前方形成对射、交叉区域，使得位于该区域内的障碍物更容易被识别，提高了避障效果。
本实施例的可选技术方案中，侧面711与底面712之间的夹角为120°-150°，相应的，相对设置的两组超声波发生器420之间的夹角范围为60°-120°，使得在60°-120°之间形成交叉区域，提升了检测障碍物的能力；而每组超声波发生器420发出的超声波存有一定角度，由此，可以检测到基体斜前方的障碍物，并作为转向的依据。
本实施例中，如图2所示，喇叭口结构710的横截面采用矩形，且红外线传感器440沿着矩形的长度方向间隔布置，超声波发生器420布置在矩形长度方向两侧的侧面711上。考虑到实际基体的形状、安装情况，可以将罩体700前端设计成圆形截面的喇叭口结构710、矩形截面的喇叭口结构710或者其他形状截面的喇叭口结构710；本实施例中实际将避障装置安装在割草机器人600的前端处，由此，考虑到割草机器人600壳体400的形状以及割草工况，将罩体700设计成矩形横截面的喇叭口结构710，这样一来，超声波发生器420则对称设置在喇叭口结构710长度方向的两侧面711上，红外线传感器440则设置在底部处，通过超声波发生器420和红外线传感器440的配合使用，以及超声波发生器420的设 置角度，大大提高了避障装置的工作效率。
本实施例中，将上述避障装置应用在割草机器人600上，具体安装在壳体400的前端处，且避障装置与电控装置500连接，以实现避障装置、电控装置500、行走装置100相互配合使用，达到割草作业过程中避开障碍物的目的。进一步的，为了能够将草和障碍物区分开，本实施例中还可以在电控装置500中预先设定一参考值，该参考值即为设定的障碍物的宽度/直径尺寸，通过超声波和红外线的配合使用能够得知识别物体的尺寸，包括宽度/直径等，然后将识别物体的尺寸传输至电控装置500，并由电控装置500将识别的尺寸与设定的参考值进行对比；当识别的尺寸大于设定的参考值，判定为障碍物，由此，控制行走电机110进行相应的运动，进一步控制两侧的行走主动轮120做出相应的转速，进而实现转向的目的；当识别的尺寸小于设定的参考值时，判定为草，此时，控制割草机器人600继续向前方行走，进行割草过程；另外，当物体可移动时，通过交叉的超声波同样能够识别。
本实施例中，如图17所示，可以在割草机器人600或终端上设有图像显示模块(又名图像显示单元)460和定位模块450，图像显示模块460、定位模块450均与电控装置500连接，其中，当图像显示模块460设置于终端上时，图像显示模块460与电控装置500通信连接。定位模块450每隔预设时间间隔向电控装置500发送割草机器人600位置信息，电控装置500根据定位模块450发送的位置信息生成已完成割草的第一工作区域图像，向图像显示模块460发送第一工作区域图像信息；图像显示模块460配置成根据第一工作区域图像信息显示第一工作区域图像。
在本公开实施例中，定位模块450可以应用超宽带广播(Ultra Wide Band Radio，简称UWB)定位系统，包括：基站以及设置于割草机器人600上的信号发生器和单片机4502，信号发生器向周围发射脉冲无线电，并开始计时，基站在接收到脉冲无线电时，向周围发射脉冲无线电，信号发生器接收到基站发射的脉冲无线电时，结束计时，向单片机4502发送记录时间信息。基站数量为两个或两个以上，每个基站对应一个预设坐标，单片机4502用于处理记录时间信息，计算出割草机器人600的坐标。
在本公开实施例中，如图18所示的电控装置500的示意图，电控装置500包括：单片机4502、电机控制单元510和无线传输单元4501；单片机4502根据避让信息确定行走路线，向电机控制单元510发送行走路线，电机控制单元510控制行走装置100按照行走路线行走，以避让障碍物，电机控制单元510根据避让指令，控制割草机器人600的行走装置100带动割草机器人600左转或右转，以避让障碍物；以及，单片机4502根据割草机器人600位置信息生成已完成割草的第一工作区域范围，向无线传输单元4501发送第一工作区域范围；无线传输单元4501向图像显示模块460发送第一工作区域范围。
在本公开实施例中，如图19所示的另一种割草机器人的模块示意图，割草机器人600包括：太阳能板800；太阳能板800与割草机器人600的电源系统电连接，太阳能板800用于为割草机器人600供电。割草机器人600长时间暴露于室外工作，可充分利用太阳能，为其电源蓄电，以达到利用清洁能源和续航久的技术效果。在本公开实施例中，割草机器人600还包括：摄像头900；摄像头900与电控装置500连接，摄像头900向电控装置500发送拍摄图像，电控装置500向图像显示模块460发送拍摄图像，图像显示模块460显示拍摄图像。割草机器人600在工作的同时，用户可以根据摄像头900反馈的实时图像，观察住宅周边情况，当观察到突发情况时，用户可通过在图像显示模块460上点击暂停，控制割草机器人600停止工作。
在本公开的又一实施例中，提供了一种割草机器人600控制方法，应用于割草机器人600的电控装置500，方法包括如下步骤：接收超声波发生器420发送的割草机器人600行走路径上障碍物信息；根据障碍物信息确定行走路线，并控制行走装置100按照行走路线行走，以避让障碍物。
在本公开实施例中，超声波发生器420，设置最近感应障碍物距离为60厘米，最远感应距离为4米，例如：当超声波发生器420检测到障碍物距离超声波发生器420的探头为60厘米时，发送避让信息给电控装置500，电控装置500根据避让信息，向电机控制单元510发送行走路线，电机控制单元510控制行走装置100按照行走路线行走，以避让障碍物。设置探测目标物宽度超过10厘米为障碍物。
在本公开实施例中，方法还包括：接收图像显示模块460发送的由用户划定的第二工作区域范围；控制割草机器人600在所述第二工作区域内割草。
在本公开实施例中，用户可以临时改变划定的初始工作区域范围，通过电控装置500接收图像显示模块460发送的由用户划定的第二工作区域范围，控制割草机器人600在第二工作区域内割草。
在本公开实施例中，方法还包括：接收图像显示模块460发送的由用户划定的初始工作区域范围；控制割草机器人600在初始工作区域内割草。
在本公开实施例中，用户可以根据实际情况临时改变划定的初始工作区域范围，通过电控装置500接收图像显示模块460发送的由用户划定的第二工作区域范围，控制割草机器人600在第二工作区域内割草。
在本公开的又一实施例中，为了便于理解，还提供了一种割草机器人600控制方法的电控装置500与图像显示模块的交互过程，如图20所示的割草机器人600控制方法的电控装置500与图像显示模块460的交互流程图：步骤S401、控制图像显示模块460显示区域图像，以供用户在区域图像中划定初始工作区域范围；步骤S402、控制图像显示模块460将初始工作区域范围发送给电控装置；步骤S403、根据初始工作区域范围，控制割草机器人600在初始工作区域内割草；步骤S404、根据割草机器人600位置信息生成已完成割草的第一工作区域范围；步骤S405、将第一工作区域范围发送给图像显示模块460；步骤S406、控制图像显示模块460显示第一工作区域范围；步骤S407、控制图像显示模块460供用户划定第二工作区域范围；步骤S408、控制图像显示模块460将用户划定的第二工作区域范围发送给电控装置500；步骤S409、根据第二工作区域范围，控制割草机器人600在第二工作区域内割草。
本公开实施例所提供的割草机器人控制方法，其实现原理及产生的技术效果和前述方法实施例相同，为简要描述，实施例部分未提及之处，可参考前述方法实施例中相应内容。
本实施例中，如图2所示，可以在壳体400的前端设置有触碰开关430，触碰开关430与电控装置电连接。本实施例中，在壳体400的前端还设置了触碰开关430，即当触碰开关430触碰到障碍物时，割草机器人停止工作或者转换移动反向，使割草机器人不会撞击在障碍物上。
本实施例提供的一种智能割草机器人，包括上述割草机器人以及智能控制模块，通过智能控制模块控制割草机器人进行割草，关于智能控制模块，可以与现有技术中的控制模块相似，如扫地机器人的控制模块等，由此，智能控制模块部分不为本申请重点包括对象，不作详细阐述。除此以外，还具有上述割草机器人所达到的技术优势及效果，此处不再进行赘述。
本公开实施例还提供了一种割草机工作区域生成系统，如图16所示的一种割草机工作区域生成系统的结构框图，该系统包括割草机器人600和终端602，割草机和终端无线通信；其中，割草机器人600设置有图14所示的第一生成装置，所述第一生成装置包括：接收模块40、取样模块42、记录模块44及第一发送模块46。接收模块40，配置成接收终端602发送的控制指令，其中，控制指令为终端602控制割草机器人行走的指令；取样模块42，配置成在行走过程中，选取行走路径中的多个取样点；记录模块44，配置成记录每个取样点的位置信息；第一发送模块46，配置成将取样点的位置信息发送至终端，以使终端根据取样点的位置信息生成割草机器人600的工作区域；第一接收模块48，配置成接收并 保存终端发送的工作区域。其中，终端设置有图15所示的第二生成装置，第二生成装置包括：第二发送模块50、第二接收模块52、生成模块54及第三发送模块56。第二发送模块50，配置成向割草机器人600发送控制指令，以使割草机器人600按照控制指令行走；第二接收模块52，配置成接收割草机器人600发送的行走过程中记录的多个取样点的位置信息；生成模块54，配置成根据多个取样点的位置信息生成割草机器人600的工作区域；第三发送模块56，配置成将工作区域发送至割草机器人600。
本公开实施例提供了一种割草机工作区域生成方法，该方法应用于割草机工作区域生成系统中的割草机器人600上，具体地，该方法应用于智能割草机器人或智能割草机。
智能割草机通常包括电源系统、避障装置、控制系统、割草装置200，以及行走装置100等，电源系统可以是蓄电池电源系统，为其他几个系统提供电源，避障装置通常用于探测智能割草机所处环境因素，具有避障以及其他探测功能，例如，识别障碍物，检测割草机器人的倾斜角度等，控制系统是智能割草机的核心，一方面可以接收避障装置、割草装置200和行走装置100的信号，并进行运算，再根据运算结果实现对割草装置200和行走装置100的控制，另一方面，还可以设置无线通信模块，与终端进行通信，实现智能割草机的智能控制。具体实现时，本公开实施例提供的割草机工作区域生成方法，可以应用于上述控制系统，如图11所示的一种割草机工作区域生成方法的流程图，包括以下步骤：
步骤S102，接收终端发送的控制指令，其中，控制指令为终端控制割草机器人行走的指令；具体实现时，该终端可以是手机、平板电脑、台式机等具有联网功能的智能终端，该智能终端上预先安装有与智能割草机匹配的应用程序APP，以使用户能够通过该应用程序APP对智能割草机进行控制。
步骤S104，在行走过程中，选取行走路径中的多个取样点；由于割草机器人没有视觉系统，因此，在行走过程中，可以通过上述安装有应用程序APP的终端进行控制，具体地，对于任意形状的草坪，为了规划出合适的工作区域，用户可以控制割草机器人在草坪上行走，以便确定出工作区域的边界，具体地，该工作区域的边界，可以通过割草机器人在草坪上取点的方式进行划分。
步骤S106，记录每个取样点的位置信息；为了便于记录该位置信息，通常可以在割草机上设置定位模块，上述位置信息可以通过定位模块获取，具体地，定位模块可以是GPS(Global Positioning System，全球定位系统)定位模块，UWB(Ultra Wide Band，超宽带)定位模块等，由于UWB定位技术是一种极低功率，在短距离内高速传输数据的无线通信技术，且，具有抗干扰性能强、传输速率高、带宽极宽、消耗电能小、发送功率小等诸多优势，因此，本公开实施例中的割草机，其定位模块优选为基于UWB技术的UWB定位模块。在实际应用时，该UWB定位模块的定位精度可达±3cm。具体地，该位置信息可以是各取样点对应的地理经纬位置数据，也可以是坐标数据，比如以基站位置为基准而确定的坐标数据。
步骤S108，将取样点的位置信息发送至终端，以使终端根据取样点的位置信息生成割草机器人的工作区域；具体地，该工作区域可以是电子地图形式的工作区域。通常，终端可以通过与智能割草机匹配的应用程序APP显示控制割草机器人的界面，例如，该应该程序APP可以内置当前区域的电子地图，或者通过第三方程序获取到当前区域的电子地图，并显示草坪区域，当终端接收到上述取样点的位置信息时，可以在电子地图上对应的位置显示上述取样点，以便于生成割草机器人的工作区域，该工作区域包括待割草的工作区域，同时，用户还可以根据终端上显示的取样点控制割草机器人的行走路径。
步骤S110，接收并保存终端发送的上述工作区域。当通过上述方式生成割草机器人的工作区域后，终端可以保持该工作区域信息，并将工作区域发送至割草机器人；割草机器人接收到该工作区域对应的信息后，将该工作区域保存至相应的存储区，以便于后续执行割草任务时，自动运行至工作区域所在的位置，直接进行割草。
在实际使用时，为了使割草机器人能够执行上述步骤S106中记录每个取样点的位置信息的过程，优选采用UWB定位技术，通常在割草机器人的草场附近布置固定基站，且在割草机器人上布置一个移动的基站或者信号发生器，该固定基站的数量可以是一个，也可以根据草场的面积设置多个，具体以实际情况为准本公开实施例对此不进行限制，并且，上述固定基站的信号通常可以覆盖草场上需要割草的区域，具体地，上述固定基站的数量优选为三个，其中两个基站固定放在草场附近的位置较高的地方，第三个固定基站可以固定在草场上，具体以实际使用情况为准，本公开实施例对此不进行限制。
基于上述固定基站，割草机器人位置信息确定的过程可以包括以下步骤：割草机上设置有信号发生器和处理器，例如，单片机等，信号发生器向周围发射脉冲无线电，并开始计时，上述设置在草场上的固定基站在接收到脉冲无线电时，向周围发射脉冲无线电，信号发生器接收到固定基站发射的脉冲无线电时，结束计时，向处理器发送记录时间信息，通常上述固定基站都对应一个预设的坐标，处理器接收到上述记录时间信息后，根据预设的坐标，可以计算出割草机器人坐标，进而实现确定割草机取样点的位置信息。
进一步，当终端接收到取样点的位置信息后，可以通过上述界面实时记录，并在电子地图上标记出割草机器人走过的轨迹，从而划定出需要割草的工作区域，并在界面上同步显示该工作区域，同时，终端在电子地图上显示取样点的位置信息，以及标记割草机器人走过的轨迹的过程中，还可以按照接收取样点的先后顺序，依次设置取样点的标识，例如，以序号的形式依次设置取样点的标识，以使用户获知取样点的数量等。
如果草场特别大，可以分块划定区域，进行割草；如果草场较小，可以一次划定区域，同时，对于根据取样点的位置信息生成割草机器人的工作区域，终端还可以进一步自动划分更小的多个区域分别进行割草等。具体以实际情况为准，同时，上述确定割草机器人的坐标方式也可以根据实际使用情况进行设置，本公开实施例对此不进行限制。
本公开实施例提供的割草机工作区域生成方法，能够接收终端发送的控制指令进行行走，并在行走过程中，按照预先设置的取样方式选取行走路径中的多个取样点，记录每个取样点的位置信息，并发送至终端，以便于终端根据取样点的位置信息生成割草机器人的工作区域，与传统埋设导线的方式相比，无需在草地上开槽，保持了草地的完整性，同时，也提高了割草机的工作智能性和安全性，进而提高了用户的体验度。
具体实现时，上述定位模块是实时更新位置信息的，以UWB定位模块为例，其定位数据的更新速度，每秒可达180次左右，因此，在割草机器人行走过程中可以产生大量的定位数据，增加了割草机器人控制系统的数据存储的负担，因此，本公开实施例中，按照预先设置的取样方式选取行走路径中的多个取样点记录的方式，能够有效避免产生大量的定位数据，同时，也能满足工作区域划分的要求。具体地，上述选取行走路径中的多个取样点的步骤包括以下过程：
(1)接收终端发送的取样指令进行取样；通常，对于任意形状的草场，割草机器人可以先不直接进行取样，而是由用户控制行走，以寻找自动割草的最佳区域，当接收到用户终端发送的取样指令之后，再执行取样的操作。
(2)将首个取样点设置为起点，按照预先设置的取样方式依次选取行走路径中的取样点；其中，取样方式包括时间取样方式，或者距离取样方式；通常，定位模块的定位数据同时包含时间属性和距离属性，因此，上述取样方式可以包括时间取样方式，也可以包括距离取样方式。
通常，时间取样方式，可以由割草机器人计算行驶时间，每间隔一定时间选取行走路径中的一个取 样点，该方式的程序实现简单，取样结果也能够比较真实的反映工作区域的形状，但是割草机器人实际行驶过程中有可能速度不一样，甚至中途停止，此时，会出现局部位置取点过密，导致电子地图显示每个取样点位置权重失衡的情况，对数据处理带来一定的影响。
距离取样方式，通常指割草机器人行走过程中，对每一次定位数据进行判断，只有实时距离与上一次记录的坐标形成一定的距离差才记录下该点，作为新坐标进行取样，其有益效果是，割草机器人在整个取样过程中无论运行状态如何，工作区域的边界数据都是比较均匀的取样点的坐标集合，能够逼近真实边界曲线，同时不会出现局部数据密集的情况。另外，采用距离取样，还可以很方便的通过调整采样的距离值，改变边界数据的密集程度，从而改变能记录的地图的最大值。
基于上述取样方式，通常可以由用户进行设置具体选择哪一个取样方式，例如，对于地势平坦的草场，可以通过终端将割草机器人的行走速度设置成匀速行走，采取时间取样方式选取行走路径中的多个取样点；对于不熟悉，或者地势相对复杂的草场，可以将取样方式设置成距离取样方式，避免出现局部位置取点过密的情况，其具体取样方式的设置情况，可以根据实际使用情况进行设置，本公开实施例对此不进行限制。
(3)计算每个取样点与起点的距离，当距离小于预先设置的距离阈值时，停止选取取样点。
考虑到不同草场的差异较大，其边界也没有特定形状，通常以判断距离阈值的方式确定割草机是否完成取样，即通过上述计算每个取样点与起点距离的方式，对每一个取样点与起点的距离进行判断，如果距离小于预先设置的距离阈值，即可确定出割草机器人绕着草场边界行走的过程中再一次获取到了起点附近的坐标，即割草机已经沿着边界行走回到起点附近，因此可以认为取样点结束，进而停止选取取样点。这种判断方式，有效避免了用户自行结束取样时导致的最后一段行走路径中出现数据空缺，难以保证最终记录的数据完整性的问题，也保证了数据的稳定性。
具体实现时，该距离阈值的设定可以由选取的取样点进行计算，例如，当选取第二个取样点时，可以计算该第二个取样点与起点的距离，将小于该距离一定值的距离值设置为距离阈值，因此，在正常取样过程中，每个取样点与起点的距离都会大于该距离阈值，当用户控制割草机器人沿草场边界行走一周，重新回到起点附近时，才会再次出现小于上述距离阈值的情形，此时，可以停止选取取样点。
对于上述距离取样方式，可以将距离阈值设置成小于采样距离值的一个定值，因此，每个取样点与起点的距离，通常均会大于该距离值，当用户控制割草机器人沿草场边界行走一周，重新回到起点附近时，才会再次出现小于上述距离阈值的情形，此时，可以停止选取取样点。
进一步，上述距离阈值还可以有用户进行设置，在割草机器人600行走过程中，由于工作区域是一个封面的区域，因此每个取样点与起点的距离，都是从小变大，在从大变小的过程，当取样点与起点的距离再次小于预先设置的距离阈值时，可以停止选取上述取样点。具体实现时，上述距离阈值的设置过程可以根据实际情况进行设置，本公开实施例对此不进行限制。
通常，对于已经生成的工作区域，在其内部可能会包含有障碍区域，如树木、花坛或者水池能，在割草机器人600实际工作时，需要避开这些障碍区域，因此，本公开实施例提供的割草机工作区域生成方法还包括以下过程：接收终端发送的工作区域的编辑命令，根据编辑命令对工作区域进行编辑。
具体地，上述编辑的过程可以包括以下步骤：
(1)在工作区域中，接收终端发送的控制指令，按照控制指令在工作区域中包含的非工作区边缘行走；具体地，该非工作区可以是上述障碍区域；
(2)在行走过程中，按照预先设置的取样方式选取非工作区边缘的多个取样点；
(3)将多个取样点发送至终端，以使终端在工作区域中绘制非工作区边缘，以及，将非工作区从工作区域中删除；
(4)接收并保存删除上述非工作区的工作区域。
具体实现时，对于有多个非工作区的草场，可以采取多次编辑的方式，将非工作区从上述工作区域中删除。为了区分上述工作区域和非工作区，在终端上显示时，可以对工作区域中的非工作区进行填充，例如，通过填充不同颜色的方式，将工作区域和非工作区域进行区分。为了便于理解，图12示出了一种工作区域的示意图，其中，A所示的区域为工作区域，该工作区域中可以理解为包括多个呈阵列排布的坐标点，这些坐标点需要割草机遍历以完成割草；B和C所示的区域为通过上述编辑的方法从工作区域A中删除的非工作区域，该B和C所在区域的坐标点被清除，这样只留A区域除去B区域再除去C区域的坐标点，割草机器人600遍历上述去除非工作区域后的工作区域的坐标点之后，可以完成该草坪的割草任务。
当通过上述方式确定出割草机器人600的工作区域后，割草机器人600可以在上述划定的区域内实现自动割草的任务，具体地，本公开实施例提供的割草机工作区域生成方法还包括以下过程：基于上述工作区域按照预先设置的行走方式设置割草机器人600的行走路线；保存该行走路线，以便于割草机在工作区域中自动行走，执行割草任务。
具体地，割草机器人600割草时能够定位实时的坐标，获取位置信息，将行走路径控制在上述划定的工作区域内进行割草。通常，采用蛇形地毯式割草，当然也可根据划分的区域形状和草坪的其他特征来选择采用不同的割草形式，当割草机器人600行进至边界点坐标时，割草机器人600停止并转向。进一步，割草机器人600还可以记录已经割草的坐标和正在割草的坐标，在终端的电子地图上显示已经割草的区域和正在割草的位置。另外，当划定最大的割草区域之后，用户还可以在电子地图上设定较小的割草区域，来控制割草机器人600先对设定的区域进行割草等操作。
每次割草完成后，割草机器人600还可以继续保存当前工作区域，以便于在下次对同一片草场执行割草任务时，直接按照该工作区域进行割草，无需重新生成工作区域，进一步，也可以每次都重新划定割草范围，生成新的工作区域，具体以实际情况为准，本公开实施例对此不进行限制。
基于上述应用于割草机的割草机工作区域生成方法，本公开实施例还提供了另一种割草机工作区域生成方法，该方法应用于割草机工作区域生成系统中的终端，具体地，终端与割草机器人600通信连接，如图13所示的另一种割草机工作区域生成方法的流程图，该方法包括以下步骤：步骤S302，向割草机器人600发送控制指令，以使割草机器人600按照该控制指令行走；步骤S304，接收割草机器人600发送的行走过程中记录的多个取样点的位置信息；步骤S306，根据多个取样点的位置信息生成割草机器人600的工作区域；具体地，终端在生成工作区域的过程中可以将首个取样点设置为起点，依次显示取样点，更根据多个取样点绘制曲线；将曲线围成的封闭区域设置为工作区域；步骤S308，将工作区域发送至割草机器人600。
进一步，该方法还包括：向割草机器人600发送工作区域的编辑命令，以使割草机器人600根据编辑命令对工作区域进行编辑，例如，将工作区域中的非工作区删除等编辑命令，以便于生成合适的工作区域。
本公开实施例提供的割草机工作区域生成方法，能够向割草机器人600发送控制指令，控制割草机器人600进行行走，并在割草机器人600行走过程中，接收割草机器人600发送的每个取样点的位置信息，并根据取样点的位置信息生成割草机的工作区域，与传统埋设导线的方式相比，无需在草地上开槽， 保持了草地的完整性，同时，也提高了割草机器人600的工作智能性和安全性，进而提高了用户的体验度。
本公开实施例还提供了一种计算机存储介质，用于存储计算机程序指令，当计算机执行所述计算机程序指令时，执行上述实施例的割草机工作区域生成方法。
本公开实施例所提供的割草机工作区域生成系统及生成方法的计算机程序产品，包括存储了程序代码的计算机可读存储介质，程序代码包括的指令可用于执行前面方法实施例中所述的方法，具体实现可参见方法实施例，在此不再赘述。
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的系统和装置的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
所述功能如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本公开的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本公开各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。
最后应说明的是：以上各实施例仅用以说明本公开的技术方案，而非对其限制；尽管参照前述各实施例对本公开进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本公开各实施例技术方案的范围。
工业实用性
本实施例提供的割草机器人、割草机工作区域生成系统、生成方法、避障装置及自动割草系统，将行走过程、割草过程通过一套行走电机来实现驱动，从而使得驱动装置数量少，降低了能源消耗，提高了能源利用率，同时使割草机整体结构紧凑、体积缩小，具有结构简单、质量轻便、成本低等优势。

Claims (21)

  1. 一种割草机器人，包括支撑架、壳体、行走装置、割草装置以及电控装置，其特征在于，所述行走装置包括行走电机和行走主动轮，所述行走电机及所述行走主动轮均设置在所述支撑架上，且所述行走电机与所述行走主动轮传动连接；所述壳体扣装在所述支撑架上，且所述壳体的底部设置有与所述行走主动轮配合使用的行走从动轮；所述行走主动轮上设置有内齿结构，所述割草装置的输入端设置有与所述内齿结构相啮合的第一齿轮；所述行走电机能够驱动所述行走主动轮转动，使割草机器人行走，并通过所述行走主动轮同步带动所述割草装置作业。
  2. 根据权利要求1所述的割草机器人，其特征在于，所述行走电机的转轴上设置有第二齿轮，所述第二齿轮与所述内齿结构相啮合；或，所述第二齿轮与所述第一齿轮相啮合。
  3. 根据权利要求1所述的割草机器人，其特征在于，所述行走电机的转轴上设置有第二齿轮，所述第二齿轮与所述内齿结构相啮合，所述支撑架上枢接有第三齿轮，所述第三齿轮啮合连接于所述第二齿轮与所述第一齿轮之间。
  4. 根据权利要求1所述的割草机器人，其特征在于，所述行走主动轮的转轴与所述行走电机的转轴上均设置有带轮，且所述行走主动轮转轴上的带轮与所述行走电机转轴上的带轮之间通过传动带连接。
  5. 根据权利要求1所述的割草机器人，其特征在于，所述行走主动轮为两个，两个所述行走主动轮之间连接有驱动轴，两个所述行走主动轮通过所述驱动轴枢接于所述支撑架上，且分别位于所述支撑架的左右两侧；
    所述割草装置包括滚刀组件和可调节托板组件，所述滚刀组件枢接于所述支撑架上，并位于两个所述行走主动轮之间，所述第一齿轮设置于所述滚刀组件上；所述可调节托板组件设置在所述支撑架上，且位于所述滚刀组件的下方，所述可调节托板组件与所述滚刀组件相互配合使用，执行割草动作。
  6. 根据权利要求5所述的割草机器人，其特征在于，所述滚刀组件包括转动轴、多个固定件和多个刀片，所述转动轴枢接于所述支撑架上，且所述转动轴的至少一端与所述第一齿轮连接；多个所述固定件间隔固定设置在所述转动轴上，各个所述刀片均固定安装在多个所述固定件的外缘上。
  7. 根据权利要求5所述的割草机器人，其特征在于，所述可调节托板组件包括托板、调节手轮和调节杆，所述托板长度方向的两端均设有连接臂，两个所述连接臂分别与所述支撑架的左右两侧枢接；所述支撑架上设置有连接耳，所述调节杆穿过所述连接耳，且所述调节杆的一端与所述调节手轮连接，另一端与所述托板的连接臂连接，所述调节杆能够带动所述托板的连接臂靠近或者远离所述连接耳，所述连接臂绕枢接处转动，并带动所述托板相对于所述支撑架转动。
  8. 根据权利要求7所述的割草机器人，其特征在于，所述连接耳及所述托板的连接臂上均开设通孔，所述调节杆依次穿过所述连接臂及所述连接耳上的通孔，且所述调节杆端部的截面尺寸大于所述连接臂上通孔的截面尺寸；
    所述调节杆上套设有回位弹簧，所述回位弹簧位于所述连接耳与所述连接臂之间；所述支撑架上位于所述连接耳与所述调节手轮之间的位置处设置有带有螺纹孔的调节螺母，且所述调节杆上靠近所述调节手轮处设置有螺纹结构，所述调节杆通过所述螺纹结构与所述调节螺母之间螺纹连接。
  9. 根据权利要求1-8中任一项所述的割草机器人，其特征在于，所述壳体的前端处设置有避障装 置，所述避障装置包括罩体、多组超声波发生器和多组红外线传感器；所述罩体的前端部设置有喇叭口结构，且多组所述红外线传感器排布在所述喇叭口结构的底部，多组所述超声波发生器设置在所述喇叭口结构的侧壁上；所述喇叭口结构的开口设置为20°-140°；所述超声波发生器、所述红外线传感器均与所述电控装置电连接。
  10. 一种割草机工作区域生成系统，其特征在于，包括终端和权利要求1-9中任一项所述的割草机器人，所述终端与所述割草机器人通信连接。
  11. 根据权利要求10所述的割草机工作区域生成系统，其特征在于，所述割草机器人或所述终端上设有图像显示模块，所述割草机器人上设有定位模块，所述图像显示模块、所述定位模块均与所述割草机器人的电控装置连接，所述定位模块每隔预设时间间隔向所述电控装置发送所述割草机器人位置信息，所述电控装置根据所述定位模块发送的位置信息生成已完成割草的第一工作区域图像，向所述图像显示模块发送第一工作区域图像信息；
    所述图像显示模块配置成根据所述第一工作区域图像信息显示所述第一工作区域图像。
  12. 根据权利要求10所述的割草机工作区域生成系统，其特征在于，所述割草机器人上设有第一生成装置，所述第一生成装置包括：
    接收模块，配置成接收终端发送的控制指令，其中，所述控制指令为所述终端控制所述割草机器人行走的指令；
    取样模块，配置成在行走过程中，选取行走路径中的多个取样点；
    记录模块，配置成记录每个所述取样点的位置信息；
    第一发送模块，配置成将所述取样点的位置信息发送至所述终端，以使所述终端根据所述取样点的位置信息生成所述割草机器人的工作区域；
    第一接收模块，配置成接收并保存所述终端发送的所述工作区域。
  13. 根据权利要求10所述的割草机工作区域生成系统，其特征在于，所述终端包括第二生成装置，所述第二生成装置包括：
    第二发送模块，配置成向所述割草机器人发送控制指令，以使所述割草机器人按照所述控制指令行走；
    第二接收模块，配置成接收所述割草机器人发送的行走过程中记录的多个取样点的位置信息；
    生成模块，配置成根据多个所述取样点的位置信息生成所述割草机器人的工作区域；
    第三发送模块，配置成将所述工作区域发送至所述割草机器人。
  14. 一种割草机工作区域生成方法，其特征在于，应用于权利要求10或12所述的割草机工作区域生成系统中的割草机器人上，所述方法包括：
    所述割草机器人接收终端发送的控制指令，其中，所述控制指令为所述终端控制所述割草机器人行走的指令；
    在行走过程中，选取行走路径中的多个取样点；
    记录每个所述取样点的位置信息；
    将所述取样点的位置信息发送至所述终端，以使所述终端根据所述取样点的位置信息生成所述割草机器人的工作区域；
    接收并保存所述终端发送的所述工作区域。
  15. 根据权利要求14所述的方法，其特征在于，所述选取行走路径中的多个取样点的步骤包括：
    接收所述终端发送的取样指令进行取样；
    将首个取样点设置为起点，按照预先设置的取样方式依次选取行走路径中的取样点；其中，所述取样方式包括时间取样方式，或者距离取样方式；
    计算每个所述取样点与所述起点的距离，当所述距离小于预先设置的距离阈值时，停止选取所述取样点。
  16. 根据权利要求15所述的方法，其特征在于，所述方法还包括：
    接收所述终端发送的所述工作区域的编辑命令，根据所述编辑命令对所述工作区域进行编辑，编辑步骤包括：
    在所述工作区域中，接收所述终端发送的所述控制指令，按照所述控制指令在所述工作区域中包含的非工作区边缘行走；
    在行走过程中，按照预先设置的所述取样方式选取所述非工作区边缘的多个取样点；
    将多个所述取样点发送至所述终端，以使所述终端在所述工作区域中绘制所述非工作区边缘，以及，将所述非工作区从所述工作区域中删除；
    接收并保存删除所述非工作区的所述工作区域。
  17. 一种割草机工作区域生成方法，其特征在于，所述方法应用于权利要求10或13所述的割草机工作区域生成系统中的终端上，所述方法包括：
    向所述割草机器人发送控制指令，以使所述割草机器人按照所述控制指令行走；
    接收所述割草机器人发送的行走过程中记录的多个取样点的位置信息；
    根据多个所述取样点的位置信息生成所述割草机的工作区域；
    将所述工作区域发送至所述割草机器人。
  18. 根据权利要求17所述的方法，其特征在于，所述根据多个所述取样点对应的位置信息生成所述割草机器人的工作区域的步骤包括：
    以首个所述取样点为起点，根据多个所述取样点绘制曲线；
    将所述曲线围成的封闭区域设置为所述工作区域。
  19. 一种割草机工作区域生成方法，其特征在于，所述方法应用于割草机器人，所述方法包括：
    接收终端发送的控制指令，其中，所述控制指令为所述终端控制所述割草机器人行走的指令；
    在行走过程中，选取行走路径中的多个取样点；
    记录每个所述取样点的位置信息；
    将所述取样点的位置信息发送至所述终端，以使所述终端根据所述取样点的位置信息生成所述割草机器人的工作区域；
    接收并保存所述终端发送的所述工作区域。
  20. 一种避障装置，其特征在于，包括：装置本体，所述装置本体用于安装在需要避障的基体上；所述装置本体包括罩体、超声波发生器和红外线传感器；所述罩体的前端部设置有喇叭口结构，且多组所述红外线传感器排布在所述喇叭口结构的底部，多组所述超声波发生器设置在所述喇叭口结构的侧壁上；所述喇叭口结构的开口设置为20°-140°。
  21. 一种自动割草系统，其特征在于，包括：割草机器人、设置于割草机器人上的超声波发生器和电控装置；所述超声波发生器与所述电控装置连接，所述超声波发生器用于检测所述割草机器人行走路径上的障碍物，并在检测到障碍物时向所述电控装置发送障碍物信息；所述电控装置和割草机器人的行 走装置连接，根据所述障碍物信息确定行走路线，并控制所述行走装置按照所述行走路线行走，以避让所述障碍物。
PCT/CN2018/114208 2018-02-13 2018-11-06 割草机器人、割草机工作区域生成系统、生成方法、避障装置及自动割草系统 WO2019157841A1 (zh)

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