阅读说明：本技术 一种智能割草机器人 (Intelligent mowing robot ) 是由 曾辉 秦泽元 杨恒秀 于 2020-08-14 设计创作，主要内容包括：本发明公开了一种智能割草机器人,涉及除草机械设备技术领域,解决了常规割草机器人避障能力不足以及使用安全性低的技术问题。该智能割草机器人包括车体、剪草机构、行走系统、动力系统、控制系统和安全保护系统。本发明通过设置的避障雷达和激光扫描仪配合自动避障效果好,设置的警示灯(5)和警示带提醒周围人员,安全性高,设置的减震装置(3)保障装置在工作过程中行走稳定,在发电机组与车体间设置的静音防护箱体降低发电机组的噪音,具有人工操作、自主行走和远程遥控多种控制模式,使用方便。(The invention discloses an intelligent mowing robot, relates to the technical field of weeding mechanical equipment, and solves the technical problems of insufficient obstacle avoidance capability and low use safety of a conventional mowing robot. The intelligent mowing robot comprises a vehicle body, a mowing mechanism, a traveling system, a power system, a control system and a safety protection system. The automatic obstacle avoidance system has the advantages that the automatic obstacle avoidance effect is good through the cooperation of the arranged obstacle avoidance radar and the laser scanner, the arranged warning lamp (5) and the warning belt remind surrounding personnel, the safety is high, the arranged damping device (3) ensures the walking stability of the device in the working process, the noise of the generator set is reduced by the mute protection box body arranged between the generator set and the vehicle body, and the automatic obstacle avoidance system has various control modes of manual operation, autonomous walking and remote control, and is convenient to use.)

1. An intelligence robot that mows which characterized in that: including automobile body, grass cutting mechanism, traveling system, driving system, control system and safety protection system, wherein:

the power system and the control system are both arranged in the vehicle body;

the safety protection system is arranged on the vehicle body;

the grass cutting mechanism is connected with the power system;

the vehicle body comprises a vehicle frame (2) and a vehicle body shell;

the walking system is arranged around the frame (2);

the walking system comprises a plurality of connecting plates (1) and walking steering wheels arranged on the connecting plates (1);

the walking steering wheel comprises a driving wheel (12), a rotary support (13) and a steering motor (10);

the driving wheel (12) is arranged on the rotary support (13);

the driving wheel (12) comprises a driving motor (11) and a rubber tire;

the rubber tire is arranged on the driving motor (11);

the steering motor (10) is meshed with the rotary support (13);

a damping device (3) is also arranged between the connecting plate (1) and the frame (2);

the frame (2) is also provided with a traction hole (4).

2. The intelligent mowing robot according to claim 1, wherein: the power system comprises a generator set, a servo motor and a rotating shaft (14);

the generator set is arranged in the shell of the vehicle body;

the rotating shaft (14) is arranged on the servo motor;

and one end of the rotating shaft is also provided with a universal coupling (15).

3. The intelligent mowing robot according to claim 1, wherein: the grass cutting mechanism comprises a grass cutter (6), an eccentric wheel (16) and a connecting arm;

the mowing knife (6) is arranged on the eccentric wheel (16);

one side of the eccentric wheel (16) is arranged on the universal coupling (15);

one end of the connecting arm is arranged on the eccentric wheel (16), and the other end of the connecting arm is connected with one end of the mowing knife (6).

4. The intelligent mowing robot according to claim 1, wherein: the control system comprises a PLC controller, an industrial personal computer, a manual operation box wireless module, a servo driver and a GPS module;

the industrial personal computer, the servo driver and the manual operation box wireless module are all electrically connected with the PLC;

the GPS module is electrically connected with the industrial personal computer;

and the servo driver is electrically connected with the steering motor and the driving motor.

5. The intelligent mowing robot according to claim 1, wherein: the safety protection system comprises a plurality of obstacle avoidance radars (7), warning lamps (5) and anti-collision strips (17);

the obstacle avoidance radar (7) is arranged on one side of the connecting plate (1);

the warning lamp (5) is arranged on the shell of the vehicle body;

the obstacle avoidance radar (7) is also provided with a laser scanner (8);

the warning lamp (5), the obstacle avoidance radar (7) and the laser scanner (8) are electrically connected with the PLC;

and two ends of the anti-collision strip (17) are arranged on the steering wheel.

6. The intelligent mowing robot according to claim 1, wherein: the vehicle body is provided with a plurality of lifting lugs.

7. The intelligent mowing robot according to claim 1, wherein: and a low-temperature preheating device is arranged beside the generator set.

8. The intelligent mowing robot according to claim 1, wherein: and a mute protection box body is also arranged between the generator set and the vehicle body.

Technical Field

The invention relates to the technical field of weeding mechanical equipment, in particular to an intelligent mowing robot.

Background

The lawn is artificial lawn planted densely with perennial short herbaceous plants and trimmed. In the 18 th century, large-area lawns appeared in natural landscape gardens of the uk. Lawns also appear in modern gardens of china. It is generally installed in the front of houses, squares, open spaces and around buildings for viewing, rest or sports. The lawn is divided into: rest lawns, ornamental lawns, sports field lawns, traffic safety lawns, and soil conservation and slope protection lawns.

The lawn is not built once and for all, and the lawn is required to be regularly trimmed for maintaining the beauty of the lawn or keeping the lawn at a certain height for a specific purpose, so that the flatness and the beauty of the lawn are maintained, the density of the lawn is increased, and a large amount of weeds are prevented from entering the lawn.

At present, when a worker trims a lawn, the labor intensity is high, the working efficiency is low, and when the lawn is trimmed, the noise and air pollution generated seriously affect the health of an operator.

With the development of semiconductor technology, information technology and mechatronic technology, this will make robotics gradually enter people's daily life. At present, engineers apply the technologies to lawn trimming equipment, and develop an automatic mowing robot, so that the labor intensity of workers is reduced to a certain extent, and the mowing efficiency is improved.

However, the technology of the existing mowing robot is not mature yet, the mowing robot has low obstacle avoidance capability and low safety in the use process, when severe weather such as thunderstorm days and the like or some emergency situations occur, the mowing robot is difficult to automatically stop working and return to a safe position or inform workers, the machine is easy to damage, the mowing robot is often large in size, and when facing lawns at some corners, the mowing robot is difficult to normally finish the mowing work.

Disclosure of Invention

The invention aims to provide an intelligent mowing robot, which is characterized in that a steering motor is matched with a rotary support through a steering wheel mechanism, a vehicle body can accurately and freely move in a narrow space, weeds at corners are conveniently treated, the safety of the device is guaranteed through an obstacle avoidance radar, a laser scanner and a warning lamp, the device is prevented from being damaged or injuring others in the working process, the working stability of the device is effectively improved through a damping device, and the technical problems of insufficient obstacle avoidance capability and low use safety of a conventional mowing robot are solved. The technical effects that can be produced by the preferred technical scheme in the technical schemes provided by the invention are described in detail in the following.

In order to achieve the purpose, the invention adopts the following technical scheme:

an intelligent mowing robot comprises a vehicle body, a mowing mechanism, a traveling system, a power system, a control system and a safety protection system; wherein:

the power system and the control system are both arranged in the vehicle body;

the safety protection system is arranged on the vehicle body;

the grass cutting mechanism is connected with the power system;

the vehicle body comprises a frame and a vehicle body shell;

the walking system is arranged around the frame;

the walking system comprises a plurality of connecting plates and walking steering wheels arranged on the connecting plates;

the walking steering wheel comprises a driving wheel, a rotary support and a steering motor;

the driving wheel is arranged on the rotary support;

the driving wheel comprises a driving motor and a rubber tire;

the rubber tire is arranged on the driving motor;

the steering motor is meshed with the rotary support;

a damping device is also arranged between the connecting plate and the frame;

the frame is also provided with a traction hole.

Alternatively or preferably, the power system comprises a generator set, a servo motor and a rotating shaft;

the generator set is arranged in the shell of the vehicle body;

the rotating shaft is arranged on the servo motor;

and one end of the rotating shaft is also provided with a universal coupling.

Optionally or preferably, the mowing mechanism comprises a mowing knife, an eccentric wheel and a connecting arm;

the mowing knife is arranged on the eccentric wheel;

one side of the eccentric wheel is arranged on the universal coupling;

one end of the connecting arm is arranged on the eccentric wheel, and the other end of the connecting arm is connected with one end of the mowing knife.

Optionally or preferably, the control system comprises a PLC (programmable logic controller), an industrial personal computer, a hand-operated box wireless module, a servo driver and a GPS (global positioning system) module;

the industrial personal computer, the servo driver and the manual operation box wireless module are all electrically connected with the PLC;

the GPS module is electrically connected with the industrial personal computer;

and the servo driver is electrically connected with the steering motor and the driving motor.

Optionally or preferably, the safety protection system comprises a plurality of obstacle avoidance radars, warning lights and anti-collision bars;

the obstacle avoidance radar is arranged on one side of the connecting plate;

the warning lamp is arranged on the shell of the vehicle body;

the obstacle avoidance radar is also provided with a laser scanner;

the warning lamp, the obstacle avoidance radar and the laser scanner are all electrically connected with the PLC;

and two ends of the anti-collision strip are arranged on the steering wheel.

Optionally or preferably, a plurality of lifting lugs are arranged on the vehicle body.

Optionally or preferably, a low-temperature preheating device is arranged beside the generator set.

Optionally or preferably, a mute protection box body is further arranged between the generator set and the vehicle body.

Based on the technical scheme, the following technical effects can be generated:

the embodiment of the invention provides an intelligent mowing robot which is suitable for mowing on lawns with certain fluctuation and gradient, such as airports, parks, grasslands and the like. According to the invention, the generator set is arranged to provide a stable power supply for the whole device, the steering motor is matched with the rotary support through the steering wheel mechanism, the vehicle body can accurately and freely move in a narrow space, weeds at corners can be conveniently treated, the safety of the device is ensured through the obstacle avoidance radar, the laser scanner and the warning lamp, the device is prevented from being damaged or injuring others in the working process, and the mowing robot can adapt to various environments through the arranged damping device. The technical problems that the conventional mowing robot is insufficient in obstacle avoidance capacity and low in use safety are solved. The invention has wide application range, good weeding effect, strong automatic obstacle avoidance capability and high use safety.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic structural view (top view) of the present invention;

FIG. 3 is a schematic structural view of a steering wheel;

in the figure: 1. a connecting plate; 2. a frame; 3. a vibration damping device; 4. a drawing hole; 5. a warning light; 6. a mowing knife; 7. obstacle avoidance radar; 8. a laser scanner; 9. lifting lugs; 10. a steering motor; 11. a driving motor 12, a driving wheel; 13. a rotary support; 14. a rotating shaft; 15. a universal coupling; 16. an eccentric wheel; 17. and (4) an anti-collision strip.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the examples given herein without any inventive step, are within the scope of the present invention.

The invention will be further described with reference to the accompanying drawings, but the scope of the invention is not limited to the following.

As shown in fig. 1-3:

the invention provides an intelligent mowing robot which comprises a vehicle body, a mowing mechanism, a walking system, a power system, a control system and a safety protection system, wherein the mowing mechanism comprises a mowing mechanism body, a power system, a control system and a safety protection system, wherein the mowing mechanism body comprises a mowing:

the power system and the control system are both arranged in the vehicle body;

the safety protection system is arranged on the vehicle body;

the grass cutting mechanism is connected with the power system;

the vehicle body comprises a frame 2 and a vehicle body shell;

the walking system is arranged around the frame 2;

the walking system comprises a plurality of connecting plates 1 and walking steering wheels arranged on the connecting plates 1;

the walking steering wheel comprises a driving wheel 12, a rotary support 13 and a steering motor 10;

the driving wheel 12 is arranged on a rotary support 13;

the driving wheel 12 comprises a driving motor 11 and a rubber tire;

the rubber tire is mounted on the driving motor 11;

the steering motor 10 is connected with a rotary support 13;

a damping device 3 is also arranged between the connecting plate 1 and the frame 2;

the frame 2 is also provided with a traction hole 4.

As an alternative embodiment, the power system includes a generator set, a servo motor, and a rotating shaft 14;

the generator set is arranged in the shell of the vehicle body;

the rotating shaft 14 is mounted on a servo motor;

and one end of the rotating shaft is also provided with a universal coupling 15.

As an alternative embodiment, the grass cutting mechanism comprises a grass cutter 6, an eccentric wheel 16 and a connecting arm;

the mowing knife 6 is arranged on the eccentric wheel 16;

one side of the eccentric wheel 16 is arranged on the universal coupling 15;

one end of the connecting arm is arranged on the eccentric wheel 16, and the other end of the connecting arm is connected with one end of the mowing knife 6.

As an optional embodiment, the control system comprises a PLC controller, an industrial personal computer, a hand-operated box wireless module, a servo driver and a GPS module;

the industrial personal computer, the servo driver and the manual operation box wireless module are all electrically connected with the PLC;

the GPS module is electrically connected with the industrial personal computer;

and the servo driver is electrically connected with the steering motor and the driving motor.

As an alternative embodiment, the safety protection system comprises a plurality of obstacle avoidance radars 7 and warning lamps 5;

the obstacle avoidance radar 7 is arranged on one side of the connecting plate 1;

the warning lamp 5 is arranged on the shell of the vehicle body;

the obstacle avoidance radar 7 is also provided with a laser scanner 8;

and the warning lamp 5, the obstacle avoidance radar 7 and the laser scanner 8 are electrically connected with the PLC.

As an optional implementation mode, a plurality of lifting lugs are arranged on the vehicle body, so that the vehicle is convenient to move and lift.

As an optional implementation mode, a low-temperature preheating device is further arranged beside the generator set, so that the generator set is suitable for a low-temperature working environment, and the normal work of the generator set can be guaranteed under the low-temperature environment.

As an optional implementation mode, a mute protection box body is further arranged between the generator set and the vehicle body, and the situation that surrounding personnel are affected by too much noise of the generator set is avoided.

As an optional implementation mode, the shell of the vehicle body is further provided with a rainproof cover cloth, so that a control system and a power system in the vehicle body are prevented from being wetted by rainwater and the device is prevented from being damaged.

As an optional implementation mode, the frame 2 is further provided with a safety edge around, when the safety edge contacts an obstacle, a signal is sent to the PLC controller, the control device is automatically stopped, and the device is prevented from being damaged.

As an optional implementation mode, the warning lamp 5 is connected with the control system, when the device normally works, the warning lamp 5 displays a green light and flashes, when the device slightly gives an alarm or lacks oil, the warning lamp 5 displays a yellow light and flashes, when the device fails and the like, the control system sends a signal to enable the warning lamp 5 to display a red light and flash to remind workers or surrounding personnel to timely deal with the problem and avoid causing large loss.

As an optional implementation mode, the manual operation box wireless module can receive signals of the manual operation box, transmit the signals to the PLC controller, control the servo driver, and further control the device to walk, turn and cut grass, so as to achieve the purpose of manual operation.

As an optional embodiment, the plurality of damping devices 3 are arranged between the connecting plate 1 and the frame 2, and when the device is used for mowing in a field with fluctuating terrain, the damping devices 3 can suppress vibration and impact on the road surface, so that the intelligent mowing robot can walk smoothly, and accidents such as side turning are avoided.

As an optional implementation mode, the mowing knife is provided with a cutter protecting device, so that the cutter is prevented from being damaged by hard objects, and meanwhile, the cutter can be prevented from falling off or being broken and flying to hurt surrounding personnel.

As an optional embodiment, a traction hole 4 formed in the frame 2 is used for facilitating traction of a tractor when the mowing robot is powered off or fails.

As an alternative embodiment, the obstacle avoidance radar 7 laser scanner 8 can transmit the surrounding environment information to the control system when approaching an obstacle, and make a corresponding obstacle avoidance action.

As an optional implementation manner, the industrial personal computer and the GPS module are matched to judge the current speed, the current position and the current driving direction of the mowing robot in real time, and the PLC controller controls the steering motor and the driving motor in real time to enable the mowing robot to walk according to a set track, thereby realizing walking control of the mowing robot.

In an alternative embodiment, the universal joint 15 can reliably transmit torque, reduce vibration of the robot during mowing work, and improve stability of the intelligent robot.

In an alternative embodiment, the servo motor drives the rotating shaft 14, transmits torque through the universal coupling 15, drives the eccentric wheel 16 to rotate, and enables the mowing knife 6 to swing left and right, so that the lawn is trimmed.