WO2020124484A1

WO2020124484A1 - Unmanned mowing vehicle

Info

Publication number: WO2020124484A1
Application number: PCT/CN2018/122358
Authority: WO
Inventors: 张孝勇; 郑友胜; 陈寿辉; 齐洪豪; 谢训鹏; 邹霞; 陈林杰; 钟媛
Original assignee: 江西洪都航空工业集团有限责任公司
Priority date: 2018-12-19
Filing date: 2018-12-20
Publication date: 2020-06-25
Also published as: CN109362331A

Abstract

An unmanned mowing vehicle, comprising a frame (3), front wheels (4), rear wheels (5), and the following parts which are provided on the frame: a walking motor, used for driving the rear wheels to walk; a steering mechanism, used for controlling the front wheels to steer; mowing platforms (6), used for mowing; a mowing motor (10), used for driving the mowing platforms; a mowing platform lifting mechanism, used for being controlled to drive the mowing platforms to move vertically; a GPS, used for positioning; a controller, used for controlling the mowing motor and the mowing platform lifting mechanism and controlling the walking motor and the steering mechanism according to positioning information of the GPS so as to achieve automatic navigation of the unmanned mowing vehicle; and a battery pack (1, 2), used for supplying power to the walking motor, the steering mechanism, the mowing platforms, the mowing motor, the mowing platform lifting mechanism, the GPS and the controller. The present unmanned mowing vehicle is driven by a direct current motor, so that the control is unified, and the unmanned mowing vehicle is convenient to use and highly efficient. In addition, the height adjustment of the mowing platforms is more convenient, the running stability of the mowing vehicle is better, and the mowing effect is better.

Description

Unmanned mower

Technical field

This application belongs to the field of lawn mower design, in particular to an unmanned lawn mower.

Background technique

Unmanned lawn mower is an application example of unmanned vehicle technology in specific occasions, which is mainly used in large-scale grassland grass trimming operations, such as pastures, golf courses, airport lawns, etc. The traditional large-scale mowers are basically tractor-towed, that is, large tractors tow the header to perform mowing operations. This method has the problems of high fuel consumption, heavy air pollution, high noise, high labor intensity of workers, and low energy utilization. And large tractors are easy to cause damage to the lawn.

Therefore, it is desirable to have a technical solution to overcome or at least alleviate at least one of the above-mentioned shortcomings of the prior art.

Summary of the invention

In order to solve at least one of the above technical problems, the present application provides an unmanned lawn mower.

The present application discloses an unmanned lawn mower, which includes a frame and front and rear wheels disposed at the front and rear ends of the frame, and further includes:

A walking motor, the walking motor is disposed at the rear end of the frame, and is used to drive the rear wheel to drive the unmanned lawn mower to walk;

A steering mechanism, the steering mechanism is provided on the frame and used to control the steering of the front wheels;

Cutting head, the cutting head is arranged on the frame between the front wheel and the rear wheel, and the cutting head has a built-in cutting blade for cutting grass;

A mowing motor, the cutting table is provided on the frame, and is used to drive the cutting table to cut grass;

A header lifting mechanism, which is provided on the frame and connected to the header, for controlling the header to move in a direction perpendicular to the bottom surface of the frame;

GPS system, the GPS system is set on the vehicle frame and is used to receive satellite signals for positioning;

A controller, the controller is disposed on the frame, the controller is configured to control the mowing motor and the header lifting mechanism, and is further configured to control the walking motor according to the positioning information of the GPS And steering mechanism to achieve autonomous navigation of unmanned mowers;

A battery pack, which is provided on the frame and used to supply power to the walking motor, steering mechanism, mowing motor, header lifting mechanism, GPS system, and the controller.

According to at least one embodiment of the present application, the steering mechanism includes:

A lever mechanism, which is provided at the front end of the frame and used to control the steering of the front wheels;

A steering motor. The steering motor is provided at the front end of the frame and connected with the tie rod mechanism to provide power for the tie rod mechanism.

According to at least one embodiment of the present application, the number of the headers is two, and the headers are symmetrically arranged on the frame, and the two headers are driven by the same mowing motor located in the middle.

According to at least one embodiment of the present application, the header lifting mechanism includes:

A lifting platform, the lifting platform is disposed on the frame between the front wheel and the rear wheel through at least two support rods perpendicular to the direction of the bottom surface of the frame, and the lifting platform can The support rod slides in a direction perpendicular to the bottom surface of the frame;

A lead screw, which is provided between the lifting platform and the frame, and is used to drive the lifting platform to slide in a direction perpendicular to the bottom surface of the frame;

Cutting table lifting motor, the cutting table lifting motor is arranged on the lifting table, and is connected with the lead screw, and is used to provide power for the lead screw;

The mowing motor is provided on the lifting table and is used to drive the mowing tables on the left and right sides to perform mowing.

According to at least one embodiment of the present application, the mowing motor is connected to the header with a transmission belt.

According to at least one embodiment of the present application, the GPS system includes:

A front GPS antenna, the front GPS antenna is disposed at the top of the front end of the frame;

A rear GPS antenna, the rear GPS antenna is arranged at the top of the rear end of the frame;

A GPS receiver, which is installed on the vehicle frame and connected to the front GPS antenna and the rear GPS antenna.

According to at least one embodiment of the present application, the unmanned lawn mower further includes:

A GPS differential antenna. The GPS differential antenna is provided at the top of the rear end of the vehicle frame and is connected to the GPS receiver for receiving base station differential signals.

A camera, the camera is arranged at the top of the front end of the frame, and is used to obtain real-time image information of the front part of the unmanned mowing vehicle;

The controller is configured to control the walking motor and the steering mechanism according to the positioning information of the GPS and the image information of the camera, so as to realize autonomous navigation of the unmanned mower;

The battery pack is used to power the camera.

A front collision sensor and/or a front radar probe, the front collision sensor and/or a front radar probe being arranged at the front end of the frame;

A rear collision sensor and/or a rear radar probe, the rear collision sensor and/or a rear radar probe being provided at the rear end of the frame; wherein

The controller is configured to control the walking according to the positioning information of the GPS, the image information of the camera, the detection information of the front collision sensor and/or front radar probe, the detection information of the rear collision sensor and/or rear radar probe Motor and steering mechanism to realize autonomous navigation of unmanned lawn mower;

The battery pack is used to power the front collision sensor and/or front radar probe, rear collision sensor and/or rear radar probe.

A wireless monitoring radio antenna, the monitoring radio antenna is arranged on the top of the rear end of the frame, and the monitoring radio antenna is used to send the image information collected by the camera.

According to at least one embodiment of the present application, there are eight front radar probes and one rear radar probe, and the front end of the frame and the rear end of the frame are evenly distributed.

According to at least one embodiment of the present application, the battery pack includes:

A first battery pack, the first battery pack is disposed at the front end of the frame;

A first relay, the first relay is used to control the output of the first battery pack;

A second battery pack, the second battery pack is disposed at the rear end of the frame;

A second relay for controlling the output of the second battery pack; wherein

The controller is configured to control the first relay and the second relay according to a first predetermined condition to control the power supply sequence of the first battery pack and the second battery pack.

According to at least one embodiment of the present application, the predetermined condition is:

The relationship between the integrated difference D of the first battery pack and the second battery pack and the first predetermined threshold D1 and the second predetermined threshold D2; wherein

The controller is configured to:

When the integrated difference D is less than the first predetermined threshold D1, the first battery pack is controlled to supply power;

When the comprehensive difference D is greater than the second predetermined threshold D2, controlling the second battery pack to supply power;

When the integrated difference D is between the first predetermined threshold D1 and the second predetermined threshold D2, the first battery pack and the second battery pack are controlled to supply power at the same time.

According to at least one embodiment of the present application, the number of the front wheels and the rear wheels are two respectively, wherein each of the front wheels is separately connected to one of the steering mechanisms, and each of the rear wheels is one of the Walking motor connection.

According to at least one embodiment of the present application, the controller is configured to control the steering angle of each front wheel according to the wheelbase L, wheelbase B, steering radius r, and vehicle speed V of the unmanned lawnmower, And controlling the speed of each of the rear wheels.

According to at least one embodiment of the present application, the controller obtains the steering angle of each front wheel and the speed of each rear wheel according to the following formula:

Wherein, θ ₁ and θ ₂ are the steering angles of the two front wheels, respectively, and V ₃ and V ₄ are the two rear wheel speeds, respectively.

A drive box, the drive box is provided at the top of the rear end of the frame, the drive of the walking motor, the drive of the steering motor, the drive of the mowing motor, and the drive of the header lifting motor are all provided in the drive box, And the drive box is provided with air-cooled heat dissipation for heat dissipation.

A control box, the control box is provided at the top of the rear end of the frame, and the controller is provided in the drive box.

According to at least one embodiment of the present application, the controller is configured to divide the lawn operation area into a plurality of rectangular areas based on the collected position information, and a reciprocating path is planned in each rectangular area.

This application has at least the following beneficial technical effects:

The unmanned lawn mower of this application adopts a DC motor to drive its walking drive, steering drive, cutting table lifting and cutting blade rotation, etc., making the control uniform, convenient and efficient, and low noise, which will not cause air pollution; in addition , The center-mounted adjustable header integrated into the center of the body, the height of the header is more convenient to adjust, the center-mounted header when the lawn mower travels swings less than the header attached to the front and rear of the vehicle, and the operation stability Better, the mowing effect is better.

BRIEF DESCRIPTION

Figure 1 is a schematic diagram of the structure of the unmanned lawn mower of this application;

2 is a schematic diagram of the motion model of the unmanned lawn mower of this application;

3 is a schematic diagram of the structure of the control system of the unmanned lawn mower of this application;

4 is a schematic diagram of the reciprocating path planning of the unmanned lawn mower of this application.

detailed description

In order to make the objectives, technical solutions and advantages of the implementation of the present application clearer, the technical solutions in the embodiments of the present application will be described in more detail in conjunction with the drawings in the embodiments of the present application. In the drawings, the same or similar reference numerals indicate the same or similar elements or elements having the same or similar functions throughout. The described embodiments are a part of the embodiments of the present application, but not all the embodiments. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present application, and should not be construed as limiting the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application. The embodiments of the present application will be described in detail below with reference to the drawings.

In the description of this application, it should be understood that the terms "center", "portrait", "landscape", "front", "rear", "left", "right", "vertical", "horizontal", The orientation or positional relationship indicated by "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the application and simplifying the description, rather than indicating or implying The device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the scope of protection of the present application.

The unmanned lawn mower of the present application will be described in further detail below with reference to FIGS. 1 to 4.

The present application discloses an unmanned lawn mower, which may include a frame 3 and front wheels 4 and rear wheels 5 provided at the front and rear ends of the frame 3; as shown in FIG. 1, in this embodiment, the front wheels 4 and the rear are preferred The number of wheels 5 is two. Further, the unmanned lawn mower may also include components such as a walking motor, a steering mechanism, a header 6, a lawn mower 10, a header lifting mechanism, a GPS system, a controller, and a battery pack.

Wherein, the walking motor can be fixedly arranged on the rear end of the frame 3 through a corresponding motor bracket, and directly or through a gear box or other mechanism connected to the rear wheel 5, so that the rear wheel 5 can be driven to rotate to drive the unmanned mower to walk. Also. In this embodiment, it is preferable that each rear wheel 5 be driven by a single walking motor.

The steering mechanism is fixedly installed on the frame 3 and is used to control the steering of the front wheels 4. In this embodiment, it is preferable that the steering mechanism includes a tie rod mechanism 81 and a steering motor 8; wherein, the tie rod mechanism 81 can adopt the tie rod mechanism of the current conventional lawn mower or corresponding vehicle, and the tie rod mechanism 81 is fixedly arranged at the front end of the frame 3 for control The front wheel 4 is steered; the steering motor 8 is fixedly disposed at the front end of the frame 3 through a corresponding motor bracket, and is connected with the tie rod mechanism 81 to provide power for the tie rod mechanism 81.

The cutting head 6 is disposed on the frame 3 between the front wheel 4 and the rear wheel 5. The cutting head 6 has a built-in cutting blade for cutting grass. Similarly, the cutting head 6 can adopt the cutting head structure on the conventional conventional grass cutting cart. The mowing motor 10 is fixedly disposed on the frame 3 through a corresponding motor bracket, and is used to drive the mowing table 6 to perform mowing. Further, in this embodiment, it is preferred that the number of headers 6 is two, and the headers 6 are symmetrically arranged on the frame 3, and the two headers 6 are driven by the same mowing motor 10 located in the middle. Further, in this embodiment, it is preferable that the mowing motor 10 is connected to the cutting table 6 through a transmission belt 7, and the cutting blades on both sides of the cutting table 6 are driven to rotate by the transmission belt 7 to realize the function of mowing.

The header lifting mechanism is fixedly installed on the frame 3, and is connected to the header 6 for controlledly driving the header 6 to move along the direction of the bottom surface of the vertical frame 3. Further, in this embodiment, it is preferable that the header lifting mechanism includes an elevator 61, a screw 20, and a header lifting motor 10.

The lifting platform 61 is provided on the frame 3 between the front wheel 4 and the rear wheel 5 through at least two support rods 62 perpendicular to the bottom surface direction of the frame 3, and the lifting platform 61 can be perpendicular to the vehicle on the support rod 62 The rack 3 slides in the direction of the bottom surface; in this embodiment, it is preferable that the number of the support rods 62 is 4, evenly distributed at the four corners of the lifting table 61.

The screw 20 is provided between the lifting table 61 and the frame 3, and is used to drive the lifting table 61 to slide in a direction perpendicular to the bottom surface of the frame 3; wherein, the screw 20 is preferably a trapezoidal screw.

The cutting table lifting motor 10 is fixedly arranged on the lifting table 61 through a corresponding motor bracket, and is connected with the screw 20 to provide power for the screw 20; wherein, the above-mentioned mowing motor 10 is also fixed on the lifting table 61 , Used to drive the header 6 on the left and right sides to cut grass.

The GPS system is fixedly installed on the frame 3 and used to receive satellite signals for positioning; specifically, the GPS system may include a front GPS antenna 13, a rear GPS antenna 14, and a GPS receiver.

The front GPS antenna 13 is fixed at the top of the front end of the frame 3 (the upper center of the front body of the car body); the rear GPS antenna 14 is fixed at the top of the rear end of the frame 3 (the upper center of the rear body of the car); The front GPS antenna 13 and the rear GPS antenna 14 are connected.

Further, the GPS system may further include a GPS differential antenna 15; the GPS differential antenna 15 is disposed at the top of the rear end of the vehicle frame 3, and is connected to a GPS receiver for receiving differential signals from the base station for calculation.

The controller is fixedly installed on the frame 3, and the controller is configured to control the mowing motor 10 and the header lifting mechanism, and is also configured to control the walking motor and the steering mechanism according to the positioning information of the GPS, so as to realize the unmanned mowing vehicle. Autonomous navigation

The battery pack is provided on the frame 3 and is used to supply power to the walking motor, the steering mechanism, the mowing motor 10, the header lifting mechanism, the GPS system and the controller.

Further, the unmanned mowing vehicle of the present application may further include a camera 11; the camera 11 is provided at the top of the front end of the frame 3, and is used to obtain real-time image information of the front of the unmanned mowing vehicle, determine whether there is an obstacle in front, and according to The type and size of obstacles adjust the planned path in real time; the controller is configured to control the walking motor and steering mechanism according to the positioning information of the GPS and the image information of the camera 11 to achieve autonomous navigation, and control walking, steering, mowing and The header motor is driven; the battery pack is also used to power the camera 11.

Further, the unmanned lawn mower of the present application may further include a front collision sensor 18 and/or a front radar probe, a rear collision sensor 19 and/or a rear radar probe.

The front collision sensor 18 and/or the front radar probe are provided at the front end of the frame 3, and the rear collision sensor 19 and/or the rear radar probe are provided at the rear end of the frame 3. In this embodiment, it is preferable that the front radar probe and the rear radar probe are 8 respectively, and the front end of the frame 3 and the rear end of the frame 3 are evenly distributed. Wherein, the controller is configured to control the walking motor and the steering mechanism based on GPS positioning information, image information of the camera 11, front collision sensor 18 and/or front radar probe detection information, rear collision sensor 19 and/or rear radar probe detection information, In order to achieve autonomous navigation of unmanned lawn mowers. Further, the above battery pack is also used to power the front collision sensor 18 and/or the front radar probe, the rear collision sensor 19 and/or the rear radar probe.

Further, the unmanned mowing vehicle of the present application may further include a wireless monitoring radio antenna 16; the monitoring radio antenna 16 is fixedly arranged on the top of the rear end of the frame 3, and is used to send the image information collected by the camera 11 to the monitoring end.

Further, in the unmanned lawn mower of the present application, the battery pack may include a first battery pack 1 and a second battery pack 2.

The first battery pack 1 is fixed at the front end of the frame 3, and the output of the first battery pack 1 can be controlled by the first relay KM1; the second battery pack 2 is fixedly arranged at the rear end of the frame 3, and can be controlled by the second relay KM2. The output of the second battery pack 2; wherein, the controller is configured to control the first relay and the second relay according to the first predetermined condition to control the power supply sequence of the first battery pack 1 and the second battery pack 2.

In this embodiment, a dual-battery power management mechanism is designed. The high-current relays KM1 and KM2 are used to control the output of the first battery pack 1 and the second battery pack 2, respectively. The power supply switching formula of the dual battery is as follows:

Among them, V ₁ and V ₂ are two battery voltage values; C ₁ and C ₂ are two battery power values; ΔV and ΔC are battery voltage and power difference values; a and b are coefficients.

D represents the integrated difference between the two lithium battery packs. When the integrated difference D is less than the first predetermined threshold D1, the first battery pack 1 is controlled to supply power; when the integrated difference D is greater than the second predetermined threshold D2, the second battery pack 2 is controlled Power supply; when the integrated difference D is between the first predetermined threshold D1 and the second predetermined threshold D2, the first battery pack 1 and the second battery pack 2 are controlled to supply power at the same time. At the same time, in order to prevent the frequent switching of high-current relays, it is designed to delay the "return" dead zone.

Further, in the unmanned lawnmower of the present application, the controller is configured to control the steering angle of each front wheel 4 according to the wheelbase L of the front and rear wheels, the wheelbase is B, the steering radius is r, and the vehicle speed V, and Control 5 speeds per rear wheel.

Specifically, the unmanned lawnmower of the present application adopts the rear wheel drive and front wheel steering motion modes. The motion model is shown in FIG. 2. r, A ₁ is the left front wheel, A ₂ is the right front wheel, A ₃ is the left rear wheel, A _{4 is the} right rear wheel, the speed V at the rear wheel axis is taken as the vehicle speed, and θ ₁ and θ ₂ are the front wheel A ₁ And A ₂ 's steering angle, V ₃ and V ₄ are the speed of the rear wheels A ₃ and A ₄ respectively. The left and right rear wheels are electrically driven by two independent servo motors, respectively, and the electronic differential values of the two rear wheels are obtained through calculation of the motion model. When the speed V and the steering radius r are given, the steering angle of each front wheel and the speed of each rear wheel can be obtained according to the following model formula:

Further, the unmanned lawn mower of the present application may further include a drive box 12 and a control box 17.

Among them, the drivers of the walking motor, steering motor, mowing motor and mower lifting motor used by the unmanned lawn mower are all connected to the controller through the CAN bus to receive and send command commands. Each motor driver is arranged in the drive box 12 and is air-cooled. Heat dissipation. The controller and other control connection devices are arranged in the control box 17.

Further, in the unmanned lawn mower of the present application, the mowing operation path of the pure electric unmanned lawn mower is planned according to the collected position information, the lawn operation area is divided into a plurality of rectangular areas, and each rectangular area is planned In the reciprocating path, since the unmanned mower can move forward and backward, the mowing operation can be performed forward and backward, which is different from the commonly used method of circling. The more the back, the smaller the mowing efficiency is. As shown in the schematic diagram of the reciprocating planning path shown in FIG. 4, when using the reciprocating mowing operation mode, some missing cutting areas will appear at the head and end of the path, and only one more cut is needed at the end.

In summary, the unmanned lawnmower of this application adopts a dual battery design to ensure that when one battery fails, the other battery can maintain the normal operation of the unmanned lawnmower, and at the same time cooperate with the power management distribution system to improve energy efficiency. In addition, the pure electric unmanned mower's walking drive, steering drive, cutting table lifting and cutting blade rotation are all driven by DC motors, with unified control, convenient and efficient. Furthermore, the mid-mounted liftable header integrated in the center of the body is more convenient to adjust the height of the header. When the mower is traveling, the center-mounted header swings less than the header with the front and rear of the header hanging and stable operation Better sex and better mowing effect. In addition, real-time dynamic differential GPS is used to obtain position and heading information for accurate positioning outside the unmanned vehicle, path planning, and real-time video image processing to obtain dynamic environmental information in the direction of the unmanned mower’s travel, and analyze whether there are obstacles. Carry out real-time dynamic planning and adjustment of the path, and finally realize the autonomous operation navigation function.

The above is only the specific implementation of this application, but the scope of protection of this application is not limited to this, any person skilled in the art can easily think of changes or replacements within the technical scope disclosed in this application, All should be covered within the scope of protection of this application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

An unmanned lawn mower includes a frame (3) and front wheels (4) and rear wheels (5) provided at the front and rear ends of the frame (3), characterized in that the unmanned lawn mower also include:

A walking motor, the walking motor is arranged at the rear end of the frame (3), and is used to drive the rear wheel (5) to drive the unmanned lawn mower to walk;

A steering mechanism, the steering mechanism is provided on the frame (3) and used for controlling the steering of the front wheel (4);

Cutting head (6), the cutting head (6) is disposed on the frame (3) between the front wheel (4) and the rear wheel (5), and the cutting head (6) is built in Cutter for cutting grass;

A mowing motor (10), the cutting head (6) is disposed on the frame (3), and is used to drive the cutting head (6) to cut grass;

Header lifting mechanism, which is provided on the frame (3) and connected with the head (6), for controlling the head (6) to drive vertically The frame (3) moves in the direction of the bottom surface;

GPS system, the GPS system is set on the frame (3), used to receive satellite signals for positioning;

A controller, the controller is arranged on the frame (3), the controller is configured to control the mowing motor (10) and the header lifting mechanism, and is also configured to position according to the GPS The information controls the walking motor and steering mechanism to achieve autonomous navigation of the unmanned mower;

A battery pack, which is provided on the frame (3) and is used to supply power to the walking motor, steering mechanism, mowing motor (10), header lifting mechanism, GPS system, and the controller.
The unmanned lawn mower according to claim 1, wherein the steering mechanism includes:

A tie rod mechanism (81), the tie rod mechanism (81) is provided at the front end of the frame (3), and is used to control the steering of the front wheel (4);

A steering motor (8) is provided at the front end of the frame (3) and is connected to the tie rod mechanism (81) to provide power for the tie rod mechanism (81).
The unmanned lawn mower according to claim 1, characterized in that the number of the headers (6) is two, the left and right symmetry is arranged on the frame (3), and the two headers ( 6) Driven by the same mowing motor (10) located in the middle.
The unmanned lawn mower of claim 3, wherein the header lifting mechanism includes:

Lifting platform (61), the lifting platform (61) is disposed on the front wheel (4) and the rear wheel (at least two support rods (62) perpendicular to the bottom surface direction of the frame (3)) 5) on the frame (3), and the lifting platform (61) can slide on the support rod (62) in a direction perpendicular to the bottom surface of the frame (3);

A screw (20) is provided between the lifting platform (61) and the frame (3) for driving the lifting platform (61) to be perpendicular to the frame (3) Sliding in the direction of the bottom surface;

Header lifting motor (10), the header lifting motor (10) is provided on the lifting table (61), and is connected with the screw (20) for providing the screw (20) Motivation

The mowing motor (10) is provided on the lifting table (61), and is used to drive the mowing tables (6) on the left and right sides to perform mowing.
The unmanned mowing vehicle according to claim 4, characterized in that the mowing motor (10) is connected to the mowing table (6) through a transmission belt (7).
The unmanned lawn mower according to claim 1, wherein the GPS system includes:

A front GPS antenna (13), the front GPS antenna (13) is arranged on the top of the front end of the frame (3);

A rear GPS antenna (14), the rear GPS antenna (14) is arranged on the top of the rear end of the frame (3);

A GPS receiver, which is installed on the vehicle frame (3) and connected to the front GPS antenna (13) and the rear GPS antenna (14).
The unmanned lawn mower according to claim 6, further comprising:

A GPS differential antenna (15). The GPS differential antenna (15) is disposed at the top of the rear end of the vehicle frame (3) and is connected to the GPS receiver for receiving base station differential signals.
The unmanned lawn mower according to claim 7, further comprising:

A camera (11), the camera (11) is arranged on the top of the front end of the frame (3), and is used to obtain real-time image information of the front part of the unmanned mowing vehicle;

The controller is configured to control the walking motor and the steering mechanism according to the positioning information of the GPS and the image information of the camera (11) to realize autonomous navigation of the unmanned lawn mower;

The battery pack is used to power the camera (11).
The unmanned lawn mower according to claim 8, further comprising:

A front collision sensor (18) and/or a front radar probe, the front collision sensor (18) and/or a front radar probe being arranged at the front end of the vehicle frame (3);

A rear collision sensor (19) and/or a rear radar probe, the rear collision sensor (19) and/or a rear radar probe being arranged at the rear end of the frame (3); wherein

The controller is configured to locate information based on the GPS, image information of the camera (11), detection information of the front collision sensor (18) and/or front radar probe, rear collision sensor (19) and/or The detection information of the rear radar probe controls the walking motor and the steering mechanism to achieve autonomous navigation of the unmanned mower;

The battery pack is used to power the front collision sensor (18) and/or front radar probe, rear collision sensor (19) and/or rear radar probe.
The unmanned lawn mower according to claim 8, further comprising:

Wireless monitoring radio antenna (16), the monitoring radio antenna (16) is arranged on the top of the rear end of the frame (3), the monitoring radio antenna (16) is used for the image information collected by the camera (11) Send it.
The unmanned mowing vehicle according to claim 9, wherein the front radar probe and the rear radar probe are 8 respectively, and the front end of the frame (3) and the vehicle are evenly distributed The rear end of the frame (3).
The unmanned lawn mower of claim 1, wherein the battery pack includes:

A first battery pack (1), the first battery pack (1) is disposed at the front end of the frame (3);

A first relay, which is used to control the output of the first battery pack (1);

A second battery pack (2), the second battery pack (2) is disposed at the rear end of the frame (3);

A second relay for controlling the output of the second battery pack (2); wherein

The controller is configured to control the first relay and the second relay according to a first predetermined condition to control the power supply sequence of the first battery pack (1) and the second battery pack (2).
The unmanned lawn mower according to claim 12, wherein the predetermined condition is:

The relationship between the integrated difference D of the first battery pack (1) and the second battery pack (2) and the first predetermined threshold D1 and the second predetermined threshold D2; wherein

The controller is configured to:

When the integrated difference D is less than the first predetermined threshold D1, the first battery pack (1) is controlled to supply power;

When the comprehensive difference D is greater than the second predetermined threshold D2, the second battery pack (2) is controlled to supply power;

When the integrated difference value D is between the first predetermined threshold D1 and the second predetermined threshold D2, the first battery pack (1) and the second battery pack (2) are controlled to supply power at the same time.
The unmanned lawn mower according to claim 1, characterized in that the number of the front wheels (4) and the rear wheels (5) are two respectively, wherein each front wheel (4) is separately One of the steering mechanisms is connected, and each of the rear wheels (5) is individually connected to the walking motor.
The unmanned lawn mower according to claim 14, wherein the controller is configured to control each wheel according to the front and rear wheelbase L, wheelbase B, steering radius r and vehicle speed V of the unmanned mower The steering angle of each of the front wheels (4) and the speed of each of the rear wheels (5) are controlled.
The unmanned lawn mower according to claim 15, characterized in that the controller obtains the steering angle of each front wheel (4) and the speed of each rear wheel (5) according to the following formula:

Wherein, θ 1 and θ 2 are the steering angles of the two front wheels (4), and V 3 and V 4 are the speeds of the two rear wheels (5), respectively.
The unmanned lawn mower according to claim 4, further comprising:

A drive box (12), the drive box (12) is arranged at the top of the rear end of the frame (3), the drive of the walking motor, the drive of the steering motor (8), the drive of the mowing motor (10) and The drivers of the header lifting motor (10) are all set in the driving box (12), and the driving box (12) is provided with air cooling to dissipate heat.
The unmanned mower according to claim 1, further comprising:

A control box (17), the control box (17) is arranged at the top of the rear end of the frame (3), and the controller is arranged in the drive box (17).
The unmanned lawn mower according to any one of claims 1-18, wherein the controller is configured to divide the lawn working area into a plurality of rectangular areas based on the collected position information, each within the rectangular area Plan a reciprocating path.