CN115735527B - A lawn corner cleaning method and lawn mowing robot - Google Patents
A lawn corner cleaning method and lawn mowing robot Download PDFInfo
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- CN115735527B CN115735527B CN202211482523.5A CN202211482523A CN115735527B CN 115735527 B CN115735527 B CN 115735527B CN 202211482523 A CN202211482523 A CN 202211482523A CN 115735527 B CN115735527 B CN 115735527B
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 238000004140 cleaning Methods 0.000 title claims abstract description 21
- 244000025254 Cannabis sativa Species 0.000 claims abstract description 58
- 238000009966 trimming Methods 0.000 claims abstract description 35
- 238000010009 beating Methods 0.000 claims description 46
- 238000007688 edging Methods 0.000 claims description 14
- 239000010902 straw Substances 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000474 nursing effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/12—Technologies relating to agriculture, livestock or agroalimentary industries using renewable energies, e.g. solar water pumping
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Abstract
本发明涉及一种草坪边角的清理方法及割草机器人。一种割草机器人包括：割草机器人本体；刀盘；打边装置，所述打边装置内部装设有打草绳；损耗识别装置及切刀。一种草坪边角的清理方法包括：拆下刀盘并换上打边装置；控制所述打边装置开始运行；检测所述打草绳的第一长度；在所述第一长度短于最小预设长度时，控制所述打边装置停止运行并记录所述打边装置当前的工作位置；释放所述打边装置内部的打草绳；检测所述打草绳释放后的第二长度；在所述第二长度超出所述最大预设长度时，切除所述第二长度超过所述最大预设长度的部分；控制所述打边装置移动至所述工作位置并重新运行。有效解决割草机器人无法清理的边角区域，减少人工处理，降低人工成本。
The present invention relates to a method for cleaning lawn corners and a lawn mowing robot. A lawn mowing robot comprises: a lawn mowing robot body; a blade disc; an edge trimming device, wherein a grass trimming rope is installed inside the edge trimming device; a wear identification device and a cutter. A method for cleaning lawn corners comprises: removing the blade disc and replacing it with an edge trimming device; controlling the edge trimming device to start running; detecting a first length of the grass trimming rope; when the first length is shorter than a minimum preset length, controlling the edge trimming device to stop running and recording the current working position of the edge trimming device; releasing the grass trimming rope inside the edge trimming device; detecting a second length of the grass trimming rope after being released; when the second length exceeds the maximum preset length, cutting off the portion of the second length that exceeds the maximum preset length; controlling the edge trimming device to move to the working position and run again. It effectively solves the corner areas that cannot be cleaned by the lawn mowing robot, reduces manual processing, and reduces labor costs.
Description
Technical Field
The invention relates to the technical field of mowing robots, in particular to a method for cleaning corners of a lawn and the mowing robot.
Background
The mowing robot is intelligent courtyard nursing equipment, can automatically cut the lawn according to a planned path, can keep the lawn at a required height for a long time, and greatly improves the life experience of a user. The existing mowing robot is not enough in the prior art, and after cutting, the mowing robot always has a corner area with a certain width away from the lawn boundary, and the mowing robot cannot cut, and needs to be finished after manual treatment. Based on the method, the mowing robot body is used as a mowing power source and a walking carrier, the cleaning of the corner area of the lawn is automatically completed, the manpower input is reduced, the experience of products is improved, and the labor cost is reduced.
Disclosure of Invention
The invention provides a method for cleaning corners of a lawn and a mowing robot, and aims to solve the technical problem that the mowing robot in the prior art cannot cut the inner side area of the boundary of the lawn.
In order to solve the technical problems, the embodiment of the invention provides the following technical scheme: a method for cleaning the corners of a lawn.
The method for cleaning the corners of the lawn is applied to a mowing robot, and the mowing robot comprises: the cutter head is used for cutting lawns in non-corner areas; the edge trimming device is provided with a grass trimming rope for flexibly cutting the corner area; the method for cleaning the corners of the lawn comprises the following steps: removing the cutterhead and replacing the edge beating device; controlling the edge trimming device to start to operate so that the grass trimming rope flexibly cuts the lawn in the corner area; detecting a first length of the mowing rope; when the first length is shorter than the minimum preset length, controlling the edge beating device to stop running and recording the current working position of the edge beating device; releasing a grass cutting rope stored in the edge cutting device; detecting whether the second length of the grass mowing rope after being released exceeds the maximum preset length; if the second length of the grass cutting rope after being released exceeds the maximum preset length, cutting off the part of the second length of the grass cutting rope after being released exceeding the maximum preset length; and controlling the edge beating device to move to the working position, and controlling the edge beating device to restart running.
In some embodiments, the mowing robot further comprises a first drive motor; the edge beating device is detachably connected with the first driving motor; the first driving motor is used for driving the edge beating device to rotate.
In some embodiments, the controlling the edging device to start to operate so that the grass mowing rope flexibly cuts the lawn in the corner area specifically includes: the edge beating device is controlled to rotate in a first rotation mode through the first driving motor, so that the grass beating rope flexibly cuts the lawn in the corner area.
In some embodiments, the releasing the grass rope stored inside the edging device specifically includes: the first driving motor is used for controlling the edge beating device to rotate in a second rotation mode, so that the grass beating rope stored in the edge beating device is released.
In some embodiments, the edging device further comprises: the front cover is provided with a plurality of bosses, and the heights of the two sides of the bosses are different; the rear cover is fixedly arranged on the front cover and encloses to form an accommodating space; the wire spool is provided with a groove matched with the boss; the wire spool is connected to the first driving motor;
and the wire spool is also provided with a wire slot for storing the grass mowing rope.
In some embodiments, the first rotation mode is: the wire spool, the front cover and the rear cover rotate together along a first direction; the second rotation mode is: the wire spool rotates solely in a second direction;
wherein, the first direction is: rotating from the side with the lower boss height to the side with the higher boss height; the second direction is: rotating from the side with higher boss height to the side with lower boss height.
In some embodiments, the mowing robot further comprises: loss recognition means; the loss identification device includes: a sensor and a follow-up bracket;
wherein the follow-up bracket is movably connected with the mowing robot and can approach or be far away from the lawn; the sensor is arranged on the follow-up bracket.
In some embodiments, the detecting the first length of the mowing cord specifically includes:
detecting whether specific parameters of the grass mowing rope meet a corresponding preset range or not through the sensor, wherein the specific parameters can reflect the length of the grass mowing rope;
if the specific parameters of the straw beating rope meet the corresponding preset ranges, the sensor forms a first signal to control the edging device to stop running the first rotation mode;
if the specific parameters of the edge beating device do not meet the corresponding preset ranges, the sensor forms a second signal to control the edge beating device to continue to operate in the first rotation mode.
In some embodiments, the specific parameter includes at least one of: the rotating speed of the tail end of the grass mowing rope and the air flow speed of the tail end of the grass mowing rope; the specific parameters are the rotating speed range of the tail end of the grass cutting rope obtained through calculation through the rotating speed of the first driving motor, the maximum preset length and the minimum preset length; the preset range is the rotating speed range.
In some embodiments, the loss identification device further comprises: the lifting module is assembled with a second driving motor and a first gear worm assembly;
Wherein the second driving motor is fixedly arranged with the mowing robot; the first gear worm assembly is fixedly arranged with the first driving motor and used for driving the first driving motor to approach or depart from the lawn;
the support base is provided with limiting ribs; the support base is fixedly connected with the mowing robot.
In some embodiments, the releasing the grass rope stored inside the edging device specifically includes: after the mowing robot responds to the first signal, controlling the first driving motor to stop rotating along the first direction, and controlling the lifting module to drive the first driving motor to move along the direction away from the lawn, so that the rear cover is in mutual abutting connection with the upper end of the follow-up bracket until the lower end of the follow-up bracket is in mutual abutting connection with the limiting rib;
Wherein, a positioning gear ring is arranged on the rear cover; an elastic rack is arranged on the follow-up bracket; after the limiting ribs are mutually abutted with the follow-up support, the limiting ribs press and jack up the follow-up support, so that the elastic racks are meshed with the positioning gear rings and form relative fixation, at the moment, the first driving motor is controlled to rotate along the second direction, and the wire spool is driven to rotate along the second direction independently, so that the grass mowing ropes stored in the wire slots are released;
the upper end is one end close to the lawn, and the lower end is one end far away from the lawn.
In some embodiments, the grass-mowing rope stored in the edge-mowing device can be released after being pushed to the bottom for locking, and the invention only describes the mode of releasing after being meshed and fixed by the gear ring and the gear rack.
In some embodiments, the rear cover can be fixed on the follow-up bracket by adopting a rough surface pressurizing friction mode, and the invention only describes that the rack and the gear ring are meshed and fixed mutually.
In some embodiments, the mowing robot further comprises: the cutter is fixedly arranged with the mowing robot and is used for cutting off the part of the second length of the mowing rope which exceeds the maximum preset length after being released;
When the sensor detects that the released grass rope exceeds the maximum preset length, the sensor forms a third signal;
After the mowing robot responds to a third signal, controlling the first driving motor to stop rotating along the second direction, and controlling the lifting module to move to a cutting position relatively parallel to the cutter along the direction approaching to the lawn;
when the mowing robot obtains feedback of the cutting position, the first driving motor is controlled to rotate along the first direction, and the front cover, the rear cover and the wire spool are driven to jointly rotate along the first direction, so that the released mowing rope is impacted by the cutter to cut off a part of the second length of the mowing rope exceeding the maximum preset length;
and when the sensor detects that the grass mowing rope is within the preset range, the sensor forms a fourth signal.
In some embodiments, the controlling the edge trimming device to move to the working position and controlling the edge trimming device to restart operation specifically includes: when the mowing robot responds to the fourth signal, the lifting module is controlled to drive the first driving motor to move along the direction close to the lawn, so that the edge beating device returns to the working position, and the lawn in the corner area is continuously cleaned.
The robot lawnmower includes: the method is applied to the method for cleaning the corners of the lawn; the mowing robot body is used as a mowing power source and a walking carrier; the mowing robot is configured to respond to the first signal, the second signal, the third signal, and the fourth signal.
Drawings
One or more embodiments are illustrated by way of example and not limitation in the figures of the accompanying drawings, in which like references indicate similar elements, and in which the figures of the drawings are not to be taken in a limiting sense, unless otherwise indicated.
FIG. 1 is a flow chart of a method for cleaning a corner of a lawn according to an embodiment of the present invention;
fig. 2 is a schematic bottom perspective view of a mowing robot according to an embodiment of the present invention;
FIG. 3 is an exploded perspective view of an edge trimming device according to an embodiment of the present invention;
Fig. 4 is a schematic perspective view of a front cover according to an embodiment of the present invention;
fig. 5 is a schematic perspective view of a wire spool according to an embodiment of the present invention;
Fig. 6 is a schematic cross-sectional view of a mowing robot according to an embodiment of the present invention;
Fig. 7 is a schematic diagram of a boundary area according to an embodiment of the present invention.
Detailed Description
In order that the invention may be readily understood, a more particular description thereof will be rendered by reference to specific embodiments that are illustrated in the appended drawings. It will be understood that when an element is referred to as being "fixed" to another element, it can be directly on the other element or one or more intervening elements may be present therebetween. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or one or more intervening elements may be present therebetween. The terms "upper," "lower," "inner," "outer," "bottom," and the like as used in this specification are used in an orientation or positional relationship based on that shown in the drawings, merely to facilitate the description of the invention and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used in this specification includes any and all combinations of one or more of the associated listed items.
In addition, the technical features mentioned in the different embodiments of the invention described below can be combined with one another as long as they do not conflict with one another.
Fig. 1 is a flowchart of a method for cleaning a lawn corner according to an embodiment of the present invention. Referring to fig. 1, the method for cleaning the lawn corner includes the following steps:
210. And disassembling the cutter disc and replacing the edge beating device.
Firstly stopping the mowing robot, and then removing the cutterhead and replacing the edge beating device; the cutter head is used for cutting the lawn in the non-corner area, so that the corner area of the lawn cut by the cutter head can be missed; the trimming device is provided with a trimming rope for flexibly cutting the corner area, so that the trimming device can be replaced by the cutterhead to clean the corner area which is missed to be cut.
220. And controlling the edge beating device to start to run so that the grass beating rope flexibly cuts the lawn in the corner area.
230. Detecting a first length of the mowing rope.
And when the first length is shorter than the minimum preset length, controlling the edge beating device to stop running and recording the current working position of the edge beating device.
240. Releasing the grass cutting rope stored in the edge cutting device.
250. And detecting whether the second length of the grass mowing rope after being released exceeds the maximum preset length.
And cutting off the part of the second length of the grass cutting rope exceeding the maximum preset length if the second length of the grass cutting rope exceeds the maximum preset length.
260. And controlling the edge beating device to move to the working position, and controlling the edge beating device to restart running.
Fig. 2 is a schematic bottom perspective view of a mowing robot according to an embodiment of the present invention. Fig. 3 is an exploded perspective view of an edge trimming device according to an embodiment of the present invention. Referring to fig. 2 and 3, the mowing robot 10 is firstly stopped, and then the cutterhead is manually disassembled and replaced by the edge trimming device 11;
the first driving motor 12 is detachably connected with the edge beating device 11, and the first driving motor 12 drives the edge beating device 11 to rotate;
driving the edging device 11 to rotate in a first rotation mode by a first driving motor 12 so that the grass-beating rope 111 flexibly cuts the lawn in the corner region;
the trimming device 11 is driven to rotate in the second rotation mode by the first driving motor 12 so that the grass cutting rope 111 stored inside the trimming device 11 is released.
Fig. 4 is a schematic perspective view of a front cover according to an embodiment of the present invention. Fig. 5 is a schematic perspective view of a wire spool according to an embodiment of the present invention. Referring to fig. 3,4 and 5, the edge trimming device further includes: the front cover 112 is provided with a plurality of bosses 1121, and the heights of two sides of the bosses 1121 are different; the rear cover 113 is fixedly mounted on the front cover 112, and encloses to form an accommodating space; the spool 114 is provided with a recess 1141 that mates with the boss 1121;
the spool 114 is further provided with a wire groove 1142 for storing the rope 111.
Fig. 6 is a schematic cross-sectional view of a mowing robot according to an embodiment of the present invention. Referring to fig. 6, a spool 114 is connected to the first driving motor 12;
The first rotation mode is: the spool 114, the front cover 112, and the rear cover 113 are rotated together in a first direction;
The second rotation mode is: the spool 114 rotates alone in a second direction;
Referring to fig. 4, the first direction is: rotating from a side 11211 of the boss 1121 where the height is low to a side 11212 of the boss 1121 where the height is high;
The second direction is: rotated from the side 11212 of the boss 1121 where the height is higher to the side 11211 of the boss 1121 where the height is lower.
Referring to fig. 6, the mowing robot 10 further includes: loss recognition means 13; the loss recognition device 13 includes a sensor 131 and a follower bracket 132;
Wherein, the follow-up bracket 132 is movably connected with the mowing robot 10 and can approach or be far away from the lawn; the sensor 131 is arranged on the follow-up bracket 132;
detecting whether a specific parameter of the grass mowing rope 111, which is a parameter capable of reflecting the length of the grass mowing rope, meets a corresponding preset range through the sensor 131;
if the specific parameter of the threshing rope 111 meets the corresponding preset range, the sensor forms a first signal to control the edging device to stop running in a first rotation mode;
If the specific parameters of the threshing rope 111 do not meet the corresponding preset ranges, the sensor forms a second signal to control the edging device to continue to operate in the first rotation mode;
The specific parameter includes at least one of: the rotating speed of the tail end of the grass mowing rope the air flow rate at the tail end of the grass mowing rope; the specific parameter may be a rotation speed range of the end of the mowing rope calculated and obtained through the rotation speed of the first driving motor 12, the maximum preset length and the minimum preset length; the preset range is the rotating speed range.
With continued reference to fig. 6, the loss identification device 13 further includes: the lifting module 133 is provided with a second driving motor 1331 and a first gear worm assembly 1332;
Wherein the second driving motor 1331 is fixedly installed with the mowing robot 10; the first gear worm assembly 1332 is fixedly mounted with the first driving motor 12 and is used for driving the first driving motor 12 to approach or depart from the lawn.
Referring to fig. 2, a limiting rib 1341 is disposed on the support base 134; the support base 134 is fixedly connected with the mowing robot 10.
Referring to fig. 2 and 6, after the mowing robot 10 responds to the first signal, the first driving motor 12 is controlled to stop rotating along the first direction, and the lifting module 133 is controlled to drive the first driving motor 12 to move along a direction away from the lawn, so that the rear cover 113 is abutted against the upper end 1321 of the follow-up bracket until the lower end 1322 of the follow-up bracket is abutted against the limit rib 1331.
Referring to fig. 2 and 3, the rear cover 113 is provided with a positioning gear ring 1131; the upper end 1321 of the follow-up bracket is provided with an elastic rack 1323; after the limiting ribs 1341 abut against the lower ends 1322 of the follow-up brackets, the limiting ribs 1341 press and jack the follow-up brackets 132, so that the elastic racks 1323 are meshed with the positioning gear rings 1131 and form relative fixation, the first driving motor 12 is controlled to rotate along the second direction, and the wire reel 114 is driven to rotate along the second direction independently, so that the grass mowing rope 111 stored in the edge trimming device 11 is released.
Referring to fig. 2, the mowing robot 10 further includes: the cutter 14 is fixedly arranged with the mowing robot 10 and is used for cutting off the part of the second length exceeding the maximum preset length after the grass cutting rope is released;
Wherein, when the sensor 131 detects that the second length of the straw rope exceeds the maximum preset length, the sensor 131 forms a third signal.
Referring to fig. 6, after the mowing robot 10 responds to the third signal, the first driving motor 12 is controlled to stop rotating along the second direction, and the lifting module 133 is controlled to move along the direction approaching the lawn to a cutting position relatively parallel to the cutter 14.
Referring to fig. 2,3 and 6, when the mowing robot 10 obtains feedback of the cutting position, the first driving motor 12 is controlled to rotate along the first direction, and the front cover 112, the rear cover 113 and the wire spool 114 are driven to rotate along the first direction together, so that the released mowing rope cuts off the part of the second length of the mowing rope exceeding the maximum preset length through collision with the cutter 14;
Wherein the sensor 131 forms a fourth signal when it detects that the mowing rope 111 is within the preset range.
With continued reference to fig. 6, when the mowing robot 10 responds to the fourth signal, the lifting module 133 is controlled to drive the first driving motor 12 to move along the direction approaching to the lawn, so that the edging device 11 returns to the working position and continues to clean the lawn in the corner area.
Fig. 7 is a schematic diagram of a boundary area according to an embodiment of the present invention. Referring to fig. 3, 6 and 7, a first driving motor 12 on the mowing robot 10 drives the edge beating device 11 to rotate in a first rotation mode, and a grass beating task is performed along the lawn boundary 30 by using a rotation radius 40 of the grass beating rope 111 to clean the corner area 20 which is not cut by the cutterhead.
In summary, according to the lawn corner cleaning method and the lawn mowing robot provided by the embodiments of the invention, the cutter disc and the edge trimming device are exchanged, and the lawn mowing robot body is used as a grass mowing power source and a walking carrier, so that the corner area which cannot be cleaned by the lawn mowing robot can be effectively solved, the manual processing is reduced, and the labor cost is reduced.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; the technical features of the above embodiments or in the different embodiments may also be combined within the idea of the invention, the steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (14)
1. A method for cleaning the corners of a lawn, which is applied to a mowing robot and is characterized in that,
The mowing robot includes: the cutter head is used for cutting lawns in non-corner areas; the edge trimming device is provided with a grass trimming rope for flexibly cutting the corner area;
the mowing robot further includes: loss recognition means;
The loss identification device includes: a sensor and a follow-up bracket;
Wherein the follow-up bracket is movably connected with the mowing robot and can approach or be far away from the lawn; the sensor is arranged on the follow-up bracket; the method for cleaning the lawn corners comprises the following steps:
Removing the cutterhead and replacing the edge beating device;
controlling the edge trimming device to start to operate so that the grass trimming rope flexibly cuts the lawn in the corner area;
detecting a first length of the mowing rope;
when the first length is shorter than the minimum preset length, controlling the edge beating device to stop running and recording the current working position of the edge beating device;
Releasing a grass cutting rope stored in the edge cutting device;
Detecting whether the second length of the grass mowing rope after being released exceeds the maximum preset length;
if the second length of the grass cutting rope after being released exceeds the maximum preset length, cutting off the part of the second length of the grass cutting rope after being released exceeding the maximum preset length;
And controlling the edge beating device to move to the working position, and controlling the edge beating device to restart running.
2. The method of claim 1, wherein the mowing robot further comprises a first drive motor; the edge beating device is detachably connected with the first driving motor; the first driving motor is used for driving the edge beating device to rotate.
3. The method for cleaning a corner of a lawn according to claim 2, wherein the controlling the edging device to start to operate so that the grass mowing rope flexibly cuts the lawn in the corner area specifically includes:
The edge beating device is controlled to rotate in a first rotation mode through the first driving motor, so that the grass beating rope flexibly cuts the lawn in the corner area.
4. A method of cleaning a corner of a lawn as claimed in claim 3, wherein the releasing of the grass mowing rope stored inside the edging device comprises:
The first driving motor is used for controlling the edge beating device to rotate in a second rotation mode, so that the grass beating rope stored in the edge beating device is released.
5. The method of claim 4, wherein the edging device further comprises:
the front cover is provided with a plurality of bosses, and the heights of the two sides of the bosses are different;
the rear cover is fixedly arranged on the front cover and encloses to form an accommodating space;
The wire spool is provided with a groove matched with the boss; the wire spool is connected to the first driving motor;
and the wire spool is also provided with a wire slot for storing the grass mowing rope.
6. The method of claim 5, wherein the first rotation mode is: the wire spool, the front cover and the rear cover rotate together along a first direction; the second rotation mode is: the wire spool rotates solely in a second direction;
wherein, the first direction is: rotating from the side with the lower boss height to the side with the higher boss height; the second direction is: rotating from the side with higher boss height to the side with lower boss height.
7. The method of claim 6, wherein detecting the first length of the mowing rope comprises:
detecting whether specific parameters of the grass mowing rope meet a corresponding preset range or not through the sensor, wherein the specific parameters can reflect the length of the grass mowing rope;
if the specific parameters of the straw beating rope meet the corresponding preset ranges, the sensor forms a first signal to control the edging device to stop running the first rotation mode;
if the specific parameters of the edge beating device do not meet the corresponding preset ranges, the sensor forms a second signal to control the edge beating device to continue to operate in the first rotation mode.
8. The method of claim 7, wherein the specific parameters include at least one of: the rotating speed of the tail end of the grass mowing rope and the air flow speed of the tail end of the grass mowing rope.
9. The method according to claim 7, wherein the specific parameter is a rotation speed range calculated by the rotation speed of the first driving motor, the maximum preset length and the minimum preset length to obtain the end of the mowing rope; the preset range is the rotating speed range.
10. The method of claim 7, wherein the wear-and-tear recognition device further comprises:
the lifting module is assembled with a second driving motor and a first gear worm assembly;
Wherein the second driving motor is fixedly arranged with the mowing robot; the first gear worm assembly is fixedly arranged with the first driving motor and used for driving the first driving motor to approach or depart from the lawn;
the support base is provided with limiting ribs; the support base is fixedly connected with the mowing robot.
11. The method of claim 10, wherein releasing the grass mowing rope stored inside the edging device comprises:
After the mowing robot responds to the first signal, controlling the first driving motor to stop rotating along the first direction, and controlling the lifting module to drive the first driving motor to move along the direction away from the lawn, so that the rear cover is in mutual abutting connection with the upper end of the follow-up bracket until the lower end of the follow-up bracket is in mutual abutting connection with the limiting rib;
Wherein, a positioning gear ring is arranged on the rear cover; an elastic rack is arranged on the follow-up bracket; after the limiting ribs are mutually abutted with the follow-up support, the limiting ribs press and jack up the follow-up support, so that the elastic racks are meshed with the positioning gear rings and form relative fixation, at the moment, the first driving motor is controlled to rotate along the second direction, and the wire spool is driven to rotate along the second direction independently, so that the grass mowing ropes stored in the wire slots are released;
the upper end is one end close to the lawn, and the lower end is one end far away from the lawn.
12. The method of claim 10, wherein the mowing robot further comprises: the cutter is fixedly arranged with the mowing robot and is used for cutting off the part of the second length of the mowing rope which exceeds the maximum preset length after being released;
When the sensor detects that the released grass rope exceeds the maximum preset length, the sensor forms a third signal;
After the mowing robot responds to a third signal, controlling the first driving motor to stop rotating along the second direction, and controlling the lifting module to move to a cutting position relatively parallel to the cutter along the direction approaching to the lawn;
when the mowing robot obtains feedback of the cutting position, the first driving motor is controlled to rotate along the first direction, and the front cover, the rear cover and the wire spool are driven to jointly rotate along the first direction, so that the released mowing rope is impacted by the cutter to cut off a part of the second length of the mowing rope exceeding the maximum preset length;
and when the sensor detects that the grass mowing rope is within the preset range, the sensor forms a fourth signal.
13. The method for cleaning a corner of a lawn as claimed in claim 10, wherein said controlling the edge trimming device to move to the working position and controlling the edge trimming device to restart comprises:
when the mowing robot responds to the fourth signal, the lifting module is controlled to drive the first driving motor to move along the direction close to the lawn, so that the edge beating device returns to the working position, and the lawn in the corner area is continuously cleaned.
14. A robot lawnmower, comprising: a method for cleaning the corners of a lawn as claimed in claim 12; the mowing robot further comprises a mowing robot body, wherein the mowing robot body is used as a mowing power source and a walking carrier;
The mowing robot is configured to respond to the first signal, the second signal, the third signal, and the fourth signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN119302108B (en) * | 2024-12-19 | 2025-02-28 | 内蒙古草业技术创新中心有限公司 | An intelligent lawn repair robot based on ROS framework |
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| CN108207280A (en) * | 2017-10-11 | 2018-06-29 | 舒海球 | A kind of modified weeder |
| CN112135513A (en) * | 2018-05-30 | 2020-12-25 | 苏州宝时得电动工具有限公司 | Automatic mower and control method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108207280A (en) * | 2017-10-11 | 2018-06-29 | 舒海球 | A kind of modified weeder |
| CN112135513A (en) * | 2018-05-30 | 2020-12-25 | 苏州宝时得电动工具有限公司 | Automatic mower and control method thereof |
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