CN111903313A - Intelligent mower and control method thereof - Google Patents
Intelligent mower and control method thereof Download PDFInfo
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- CN111903313A CN111903313A CN202010660180.1A CN202010660180A CN111903313A CN 111903313 A CN111903313 A CN 111903313A CN 202010660180 A CN202010660180 A CN 202010660180A CN 111903313 A CN111903313 A CN 111903313A
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- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000004891 communication Methods 0.000 claims abstract description 30
- 238000012544 monitoring process Methods 0.000 claims abstract description 26
- 230000007613 environmental effect Effects 0.000 claims description 13
- 230000007246 mechanism Effects 0.000 claims description 13
- 230000008569 process Effects 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 5
- 230000001681 protective effect Effects 0.000 claims description 5
- 230000035939 shock Effects 0.000 claims description 4
- 238000009333 weeding Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 239000002184 metal Substances 0.000 description 3
- 238000010413 gardening Methods 0.000 description 2
- 238000011065 in-situ storage Methods 0.000 description 2
- 238000013138 pruning Methods 0.000 description 2
- 238000009966 trimming Methods 0.000 description 2
- 244000025254 Cannabis sativa Species 0.000 description 1
- 241000196324 Embryophyta Species 0.000 description 1
- 230000036626 alertness Effects 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
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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
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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
- A01D34/001—Accessories not otherwise provided for
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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
- A01D34/006—Control or measuring arrangements
- A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
- A01G3/08—Other tools for pruning, branching or delimbing standing trees
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- 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
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
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- 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
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Signal Processing (AREA)
- General Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Health & Medical Sciences (AREA)
- Ecology (AREA)
- Forests & Forestry (AREA)
- Biodiversity & Conservation Biology (AREA)
- Computer Networks & Wireless Communication (AREA)
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- Harvester Elements (AREA)
Abstract
The invention discloses an intelligent mower and a control method thereof, wherein the intelligent mower comprises a mower body, a power supply monitoring module, a main control board, a wireless communication module and a driving module; the mower body is provided with a telescopic rotatable mechanical arm; a mowing tool is arranged on the mechanical arm; the main control board is used for generating control signals and controlling the mower body, the mechanical arm, the wireless communication module and the driving module; the power supply monitoring module is used for acquiring a power supply state signal of the mower body and feeding the power supply state signal back to the main control board; the driving module is used for driving the mower body to move according to the control signal of the main control board; the mechanical arm is used for mowing according to the control signal of the main control panel. The intelligent mower provided by the invention has the mechanical arm capable of being freely adjusted and stretched, has the function of detecting the residual electric quantity, and can be widely applied to the technical field of intelligent equipment.
Description
Technical Field
The invention relates to the technical field of intelligent equipment, in particular to an intelligent mower and a control method thereof.
Background
In a high-voltage transformer substation, the weeding and obstacle clearing tasks are performed manually, and members need to wear gloves and safety helmets and wear protective shoes to perform weeding and obstacle clearing work according to requirements. Due to the special environment of the transformer substation, a plurality of limiting conditions exist during weeding and obstacle clearing work, a weeding area is electrified, long metal tools are avoided, enough safety distance is kept between the long metal tools and electrified equipment, the long metal tools cannot be moved away or cross a fence for working convenience, and equipment frameworks, climbing ladders and the like cannot be climbed; under the environmental conditions of burning sun or severe cold, higher requirements are required on the skill and mental alertness of operators, and the operators can mistakenly touch dangerous places and areas without leaving attention, so that the operators are more difficult and dangerous in weeding.
The prior art proposes some devices for controlling mowing with remote control, but the current remote control mowers have the following disadvantages: 1. the existing equipment has the advantages that the mowing area is below the movable platform, only the area where the movable platform can normally enter can be mowed, and due to the fact that the telescopic mechanical arm which can be freely adjusted does not exist, if an obstacle exists in the front or the area where the movable platform cannot enter is formed, weeding operation cannot be carried out, and the mowing area is small; 2. the existing scheme has no prompt of residual electric quantity, cannot master the state of the exhausted electric quantity or the exhausted state of the equipment, cannot effectively master the residual working time of the equipment, and cannot realize automatic searching of a charging point for charging.
Disclosure of Invention
In view of this, embodiments of the present invention provide an intelligent lawn mower capable of freely adjusting a telescopic mechanical arm and detecting a remaining power and a control method thereof.
The invention provides an intelligent mower in a first aspect, which comprises a mower body, a power supply monitoring module, a main control board, a wireless communication module and a driving module, wherein the power supply monitoring module is arranged on the mower body; the mower body is provided with a telescopic rotatable mechanical arm; a mowing tool is arranged on the mechanical arm;
the main control board is used for generating control signals and controlling the mower body, the mechanical arm, the wireless communication module and the driving module;
the wireless communication module is used for realizing data communication between the main control board and the remote control end;
the power supply monitoring module is used for acquiring a power supply state signal of the mower body and feeding the power supply state signal back to the main control board;
the driving module is used for driving the mower body to move according to a control signal of the main control panel;
the mechanical arm is used for carrying out mowing work according to a control signal of the main control panel;
the mower body is used for carrying the mechanical arm, the main control board, the wireless communication module, the power supply monitoring module and the driving module.
In some embodiments, the intelligent mower further comprises an obstacle avoidance device, a steering device, an angle sensing module, an attitude sensing module, a positioning module and an automatic leveling device;
the obstacle avoidance device is used for acquiring environmental road condition information of the mower body in the moving process and feeding the environmental road condition information back to the main control board;
the steering device is used for controlling the steering angle of the mower body according to the control signal of the main control panel;
the angle sensing module is used for acquiring a steering angle signal of the mower body and feeding the steering angle signal back to the main control board;
the automatic leveling device is used for controlling the horizontal position of a leveling platform on the automatic leveling device according to the control signal of the main control panel;
the attitude sensing module is used for acquiring a horizontal position signal of a leveling platform on the automatic leveling device and feeding the horizontal position signal back to the main control board;
the positioning module is used for acquiring a real-time position signal of the mower body and feeding the real-time position signal back to the main control board.
In some embodiments, the mower body is provided with an electrical module housing box; an automatic leveling device is arranged above the electrical module placing box; a shock-absorbing spring is arranged in front of the electrical module placing box; a protective cover is arranged in front of the shock absorbing spring.
In some embodiments, the mower body is connected to a driving wheel through a swingable connecting bracket, and a steering device is arranged between the driving wheel and the connecting bracket; a mechanical arm is arranged above the automatic leveling device; and the tail end of the mechanical arm is provided with a cutter mounting module for mounting a cutter.
In some embodiments, the automatic leveling device comprises a leveling platform, a universal rotating device, a first set of screw rod mechanisms and a second set of screw rod mechanisms, wherein the screw rod mechanisms comprise control motors, and the control motors are used for controlling the inclination angles of the leveling platform; and a level detection sensor is arranged on the leveling platform.
In some embodiments, the mechanical arm comprises a first section arm, a second section arm and a third section arm, wherein the first section arm, the second section arm and the third section arm are respectively provided with a corresponding arm retracting motor, and the arm retracting motors are used for controlling the telescopic motion of the corresponding section arms; the mechanical arm is arranged on a steering device of the mower body, and a rotating motor is arranged in the steering device.
In some embodiments, the lawn mower body is further provided with a monitoring camera, and the monitoring camera is used for acquiring a picture of the surrounding environment of the lawn mower body and sending the picture of the surrounding environment to the main control board.
A second aspect of the present invention provides a control method of an intelligent lawn mower, including:
generating a control signal through a main control board to control the mower body, the mechanical arm, the wireless communication module and the driving module;
data communication between the main control board and a remote control end is realized through a wireless communication module;
acquiring a power supply state signal of the mower body through a power supply monitoring module, and feeding the power supply state signal back to the main control board;
driving the mower body to move through a driving module according to a control signal of the main control panel;
carrying out mowing work through the mechanical arm according to a control signal of the main control board;
the mechanical arm, the main control board, the wireless communication module, the power monitoring module and the driving module are carried by the mower body.
In some embodiments, the control method further comprises:
acquiring environmental road condition information of the mower body in the moving process through an obstacle avoidance device, and feeding back the environmental road condition information to the main control board;
controlling the steering angle of the mower body through a steering device according to the control signal of the main control board;
acquiring a steering angle signal of the mower body through an angle sensing module, and feeding the steering angle signal back to the main control board;
according to the control signal of the main control board, controlling the horizontal position of a leveling platform on an automatic leveling device through the automatic leveling device;
acquiring a horizontal position signal of a leveling platform on the automatic leveling device through an attitude sensing module, and feeding back the horizontal position signal to the main control board;
and acquiring a real-time position signal of the mower body through a positioning module, and feeding the real-time position signal back to the main control board.
In some embodiments, the control method further comprises:
and acquiring the surrounding environment picture of the mower body through a monitoring camera, and sending the surrounding environment picture to a main control board.
According to the embodiment of the invention, the telescopic rotatable mechanical arm is arranged on the mower body, so that the intelligent mower can perform weeding operation in an area where a barrier or a mobile platform cannot enter in the front, and is particularly suitable for weeding operation in operation areas in high-risk environments such as a high-voltage transformer substation; in addition, the intelligent mower provided by the invention is provided with the power supply monitoring module, and can acquire the current power supply state of the intelligent mower, so that the intelligent mower can be charged in time under the condition of low electric quantity.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a block diagram of an overall structure of an intelligent lawn mower according to an embodiment of the present invention;
FIG. 2 is a schematic view of the overall structure of an intelligent lawn mower according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a single-side driving wheel of the intelligent mower according to the embodiment of the invention;
FIG. 4 is a schematic structural diagram of a double-sided drive wheel of an intelligent lawn mower according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of an automatic leveling device according to an embodiment of the present invention;
fig. 6 is a schematic view of a robot arm connection structure according to an embodiment of the present invention.
Detailed Description
The invention will be further explained and explained with reference to the drawings and the embodiments in the description. The step numbers in the embodiments of the present invention are set for convenience of illustration only, the order between the steps is not limited at all, and the execution order of each step in the embodiments can be adaptively adjusted according to the understanding of those skilled in the art.
As shown in fig. 1, the intelligent lawn mower of the embodiment of the invention comprises a lawn mower body, a power monitoring module, a main control board, a wireless communication module and a driving module; the mower body is provided with a telescopic rotatable mechanical arm; a mowing tool is arranged on the mechanical arm;
the main control board is used for generating control signals and controlling the mower body, the mechanical arm, the wireless communication module and the driving module;
the wireless communication module is used for realizing data communication between the main control board and the remote control end;
the power supply monitoring module is used for acquiring a power supply state signal of the mower body and feeding the power supply state signal back to the main control board;
the driving module is used for driving the mower body to move according to a control signal of the main control panel;
the mechanical arm is used for carrying out mowing work according to a control signal of the main control panel;
the mower body is used for carrying the mechanical arm, the main control board, the wireless communication module, the power supply monitoring module and the driving module.
In some embodiments, the intelligent mower further comprises an obstacle avoidance device, a steering device, an angle sensing module, an attitude sensing module, a positioning module and an automatic leveling device;
the obstacle avoidance device is used for acquiring environmental road condition information of the mower body in the moving process and feeding the environmental road condition information back to the main control board;
the steering device is used for controlling the steering angle of the mower body according to the control signal of the main control panel;
the angle sensing module is used for acquiring a steering angle signal of the mower body and feeding the steering angle signal back to the main control board;
the automatic leveling device is used for controlling the horizontal position of a leveling platform on the automatic leveling device according to the control signal of the main control panel;
the attitude sensing module is used for acquiring a horizontal position signal of a leveling platform on the automatic leveling device and feeding the horizontal position signal back to the main control board;
the positioning module is used for acquiring a real-time position signal of the mower body and feeding the real-time position signal back to the main control board.
In addition, referring to fig. 2, in the reference numerals of fig. 2, 1 denotes a driving wheel; 2 represents a steering device; 3 represents a swingable connecting bracket; 4 represents a shock absorbing spring; 5 represents a protective cover; 6 denotes an automatic leveling device; 7 represents a robot arm; 8 represents a tool mounting module; 9 represents a cutter; and 10 denotes an electrical module housing box.
As shown in fig. 2, an electrical module housing box 10 is provided on the mower body of the intelligent mower according to the embodiment of the present invention; an automatic leveling device 6 is arranged above the electrical module placing box 10; the front of the electrical module placing box 10 is provided with a shock-absorbing spring 4; a protective cover 5 is arranged in front of the shock absorbing spring 4; the mower body is connected to a driving wheel 1 through a swingable connecting support 3, and a steering device 2 is arranged between the driving wheel 1 and the connecting support 3; a mechanical arm 7 is arranged above the automatic leveling device 6, and a cutter mounting module 8 for mounting a cutter 9 is arranged at the tail end of the mechanical arm 7.
The driving wheels can be anti-skid wheels with driving motors, each wheel can independently control the working state and the steering state of the wheel, each wheel is provided with an independent steering control mechanism, the wheels can rotate in the direction of +/-90 degrees, and the intelligent mower can realize actions such as transverse movement, in-situ turning and the like.
As shown in fig. 3, the mower body of the embodiment of the present invention is connected to a driving wheel by a swingable connecting bracket 3, and the driving wheel is mounted on the bracket. The driving wheel is controlled by the steering motor 11 to realize driving, in addition, the steering motor 11 is provided with an angle sensor 12, and the steering angle of the current steering motor can be fed back to the main control board through the angle sensor so as to be controlled in real time. As shown in fig. 4, the suspension spring 4 is mounted on the bracket, and serves as a buffer, so that the bracket can be adjusted to swing up and down in a certain range when the robot encounters a pothole or uneven road surface, the whole posture of the robot can be kept stable, and the robot is not affected by uneven ground contacted by a certain wheel.
As shown in fig. 5, the automatic leveling device 6 of this embodiment includes a leveling platform 16, a universal rotating device 15, a first set of screw mechanisms, and a second set of screw mechanisms, where the screw mechanism 13 includes a control motor 14, and the control motor 14 is used to control an inclination angle of the leveling platform 16; and a level detection sensor is arranged on the leveling platform 16.
Specifically, the machine frame of this embodiment is provided with an automatic leveling device, the automatic leveling device is provided with 2 sets of screw rod mechanisms 13, the automatic leveling device comprises a control motor 14, the leveling platform 16 can be respectively controlled to tilt in the front-back direction or the left-right direction, the centers of the two screw rod mechanisms are connected through a universal rotating device 15, the center point of the leveling device is fixed, when the motor controls the screw rod mechanisms to slide in the front-back direction or the left-right direction, the leveling platform 16 can be respectively controlled to adjust in the opposite direction, the motor can also self-lock when not rotating, a level detection sensor is arranged on the leveling platform 16, and the mechanical arm is arranged on the leveling platform.
As shown in fig. 6, the mechanical arm 7 of the embodiment of the present invention includes a first joint arm, a second joint arm, and a third joint arm, where the first joint arm, the second joint arm, and the third joint arm are all provided with corresponding arm retracting motors 19, and the arm retracting motors 19 are used to control the telescopic motion of the corresponding joint arms; the mechanical arm 7 is arranged on a steering device 22 of the mower body, and a rotating motor is arranged in the steering device 22.
Specifically, in the embodiment, the cutter for mowing or pruning is mounted on a mechanical arm 7 of the robot, the mechanical arm is composed of 3 sections of extendable and retractable arms, each arm is provided with an independent arm retracting motor 19 for controlling the retracting and releasing angle of the arm, the arm retracting motor can extend up and down and back and forth, the mechanical arm 7 is mounted on a steering device 22, a rotating motor is arranged in the steering device 22 for controlling the steering platform 21 to rotate, the 360-degree rotation of the steering platform 21 can be realized, and the cutter 9 can be replaced according to different task characteristics; specifically, the cutter 9 is installed on the cutter installation module 8, and the steering device 18 is arranged on the cutter installation module 8 and comprises a motor 17, so that the cutter can be driven to rotate. An angle sensor 20 is arranged on the arm retracting motor 19, and the steering angle of the steering platform 21 can be monitored in real time.
In addition, in some embodiments, sensors are installed around the intelligent mower, when the front part encounters an obstacle during traveling or operation, the intelligent mower can automatically bypass the obstacle, then plans a proper route again to continue to advance to the set current position, and when the front part encounters an obstacle of a living body such as a human being or an animal during operation, a cutter on the mechanical arm can automatically stop working.
The intelligent mower can be monitored and controlled by an operator through a mobile phone and a tablet at a remote end or through communication networks such as 4G and the like at the background, and the intelligent mower can automatically finish mowing operation according to preset instructions and an operation range without needing to be on an operation site.
The intelligent mower is provided with the electric quantity detection device, when the working electric quantity can not meet the requirement, a return route can be automatically planned, and the nearest charging point is searched for charging.
The intelligent mower can perform manual control or automatic operation control according to an instruction sent by the background, and when the automatic operation control is performed, a manager only needs to set a work task and a work range in the background, and the mower can automatically plan a traveling route according to the requirement of the task, reach a target place and perform operation according to the requirement of the task.
Based on the intelligent mower provided by the invention, the embodiment also provides a control method of the intelligent mower, which comprises the following steps:
generating a control signal through a main control board to control the mower body, the mechanical arm, the wireless communication module and the driving module;
data communication between the main control board and a remote control end is realized through a wireless communication module;
acquiring a power supply state signal of the mower body through a power supply monitoring module, and feeding the power supply state signal back to the main control board;
driving the mower body to move through a driving module according to a control signal of the main control panel;
carrying out mowing work through the mechanical arm according to a control signal of the main control board;
the mechanical arm, the main control board, the wireless communication module, the power monitoring module and the driving module are carried by the mower body.
In some embodiments, the control method further comprises:
acquiring environmental road condition information of the mower body in the moving process through an obstacle avoidance device, and feeding back the environmental road condition information to the main control board;
controlling the steering angle of the mower body through a steering device according to the control signal of the main control board;
acquiring a steering angle signal of the mower body through an angle sensing module, and feeding the steering angle signal back to the main control board;
according to the control signal of the main control board, controlling the horizontal position of a leveling platform on an automatic leveling device through the automatic leveling device;
acquiring a horizontal position signal of a leveling platform on the automatic leveling device through an attitude sensing module, and feeding back the horizontal position signal to the main control board;
acquiring a real-time position signal of the mower body through a positioning module, and feeding the real-time position signal back to the main control board;
and acquiring the surrounding environment picture of the mower body through a monitoring camera, and sending the surrounding environment picture to a main control board.
In conclusion, compared with the traditional mower, the intelligent mower has high automation and intelligence degrees, can carry out the works such as weed trimming, court lawn treatment, shrub pruning, gardening management and the like by replacing different cutters, can control the gardening robot to work by remote monitoring equipment, does not need to push the equipment machine to work manually, can monitor the working condition and the surrounding environment in real time, has the prompt of residual electric quantity, and can master the residual working time of the equipment in real time; the operation platform capable of rotating 360 degrees and the mechanical arm capable of freely stretching and retracting are suitable for operation under the conditions that obstacles exist in the front and a trolley cannot pass, the function that the existing equipment scheme cannot be realized can be solved, and the weeding machine is particularly suitable for weeding in operation areas in high-risk environments such as a high-voltage transformer substation.
Specifically, the intelligent mower disclosed by the invention has the following advantages:
the intelligent mower is provided with an operation platform capable of rotating 360 degrees and a mechanical arm capable of freely stretching and retracting, wherein the mechanical arm is provided with a cutter capable of being replaced according to different task characteristics, and the problem that the cutter is limited by space in the existing scheme is solved; the grass cutter can be used for trimming shrubs, greening and the like besides mowing.
Secondly, prompting of the residual electric quantity is carried out, the residual working time of the equipment is mastered in real time, when the electric quantity is lower than a set value, the intelligent mower can search a nearest charging point for charging, and can continue to operate after the electric quantity is full, so that the problem that the existing scheme needs to manually recover and then take the equipment for charging is solved.
The monitoring device of installation can be convenient realization remote control and real time monitoring equipment's operating condition, makes the convenient condition of knowing the operation of managers, still can monitor the condition of lawn mower all ring edge borders except the operation direction through the cloud platform control.
The intelligent mower has the advantages that the automatic balancing device is arranged, the posture can be automatically adjusted when the intelligent mower works on uneven road surfaces or slopes, the intelligent mower can always work in the horizontal direction, and the problem of uneven mowing or uneven mowing can be avoided when the intelligent mower works on the slopes or uneven road surfaces.
The cutter is installed on the arm, and the arm can stretch out and draw back from top to bottom, front and back to can realize 360 degrees and rotate, solve the current scheme of mowing and can only walk which and cut which drawback, the place that the equipment of having not convenient for got into at present, if dangerous place or the place ahead in the high-voltage substation have the unable current condition of current dolly of obstacle, this patent accessible arm stretches into and carries out the operation.
The wheels can rotate in the direction of +/-90 degrees, can be suitable for places with movement or direction change in a narrow space, and even can complete actions such as turning around in situ, and the like, thereby solving the problem of large turning radius of the existing scheme.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
While the preferred embodiments of the present invention have been illustrated and described, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. An intelligent mower is characterized by comprising a mower body, a power supply monitoring module, a main control board, a wireless communication module and a driving module; the mower body is provided with a telescopic rotatable mechanical arm; a mowing tool is arranged on the mechanical arm;
the main control board is used for generating control signals and controlling the mower body, the mechanical arm, the wireless communication module and the driving module;
the wireless communication module is used for realizing data communication between the main control board and the remote control end;
the power supply monitoring module is used for acquiring a power supply state signal of the mower body and feeding the power supply state signal back to the main control board; the power status signal includes remaining power information;
the driving module is used for driving the mower body to move according to a control signal of the main control panel;
the mechanical arm is used for carrying out mowing work according to a control signal of the main control panel;
the mower body is used for carrying the mechanical arm, the main control board, the wireless communication module, the power supply monitoring module and the driving module.
2. The intelligent mower according to claim 1, further comprising an obstacle avoidance device, a steering device, an angle sensing module, an attitude sensing module, a positioning module and an automatic leveling device;
the obstacle avoidance device is used for acquiring environmental road condition information of the mower body in the moving process and feeding the environmental road condition information back to the main control board;
the steering device is used for controlling the steering angle of the mower body according to the control signal of the main control panel;
the angle sensing module is used for acquiring a steering angle signal of the mower body and feeding the steering angle signal back to the main control board;
the automatic leveling device is used for controlling the horizontal position of a leveling platform on the automatic leveling device according to the control signal of the main control panel;
the attitude sensing module is used for acquiring a horizontal position signal of a leveling platform on the automatic leveling device and feeding the horizontal position signal back to the main control board;
the positioning module is used for acquiring a real-time position signal of the mower body and feeding the real-time position signal back to the main control board.
3. The intelligent mower according to claim 1, wherein the mower body is provided with an electrical module housing box; an automatic leveling device is arranged above the electrical module placing box; a shock-absorbing spring is arranged in front of the electrical module placing box; a protective cover is arranged in front of the shock absorbing spring.
4. The intelligent mower according to claim 3, wherein the mower body is connected to a driving wheel through a swingable connecting bracket, and a steering device is arranged between the driving wheel and the connecting bracket; a mechanical arm is arranged above the automatic leveling device; and the tail end of the mechanical arm is provided with a cutter mounting module for mounting a cutter.
5. The intelligent mower according to claim 3, wherein the automatic leveling device comprises a leveling platform, a universal rotating device, a first set of screw mechanism and a second set of screw mechanism, the screw mechanism comprises a control motor, and the control motor is used for controlling the inclination angle of the leveling platform; and a level detection sensor is arranged on the leveling platform.
6. The intelligent mower according to claim 1, wherein the mechanical arm comprises a first section arm, a second section arm and a third section arm, the first section arm, the second section arm and the third section arm are respectively provided with a corresponding arm retracting motor, and the arm retracting motors are used for controlling the telescopic motion of the corresponding section arms; the mechanical arm is arranged on a steering device of the mower body, and a rotating motor is arranged in the steering device.
7. The intelligent mower according to claim 1, wherein a surveillance camera is further arranged on the mower body, and the surveillance camera is used for acquiring a picture of a surrounding environment of the mower body and sending the picture of the surrounding environment to a main control board.
8. A control method of an intelligent mower is characterized by comprising the following steps:
generating a control signal through a main control board to control the mower body, the mechanical arm, the wireless communication module and the driving module;
data communication between the main control board and a remote control end is realized through a wireless communication module;
acquiring a power supply state signal of the mower body through a power supply monitoring module, and feeding the power supply state signal back to the main control board;
driving the mower body to move through a driving module according to a control signal of the main control panel;
carrying out mowing work through the mechanical arm according to a control signal of the main control board;
the mechanical arm, the main control board, the wireless communication module, the power monitoring module and the driving module are carried by the mower body.
9. The control method of an intelligent lawn mower according to claim 8, characterized in that, the control method further comprises:
acquiring environmental road condition information of the mower body in the moving process through an obstacle avoidance device, and feeding back the environmental road condition information to the main control board;
controlling the steering angle of the mower body through a steering device according to the control signal of the main control board;
acquiring a steering angle signal of the mower body through an angle sensing module, and feeding the steering angle signal back to the main control board;
according to the control signal of the main control board, controlling the horizontal position of a leveling platform on an automatic leveling device through the automatic leveling device;
acquiring a horizontal position signal of a leveling platform on the automatic leveling device through an attitude sensing module, and feeding back the horizontal position signal to the main control board;
and acquiring a real-time position signal of the mower body through a positioning module, and feeding the real-time position signal back to the main control board.
10. The control method of an intelligent lawn mower according to claim 8, characterized in that, the control method further comprises:
and acquiring the surrounding environment picture of the mower body through a monitoring camera, and sending the surrounding environment picture to a main control board.
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