阅读说明：本技术 一种智能割草机的工作方法 (Working method of intelligent mower ) 是由 吴庭俊 陈永杰 钱伟淋 陈冠宇 郑兴强 于 2021-10-12 设计创作，主要内容包括：本发明提供一种智能割草机的工作方法,包括车体,车体包括外壳、底盘、电源、割草系统、运动系统、感知系统和控制系统,所述外壳和底盘之间形成有容腔,容腔用于安装割草系统、运动系统、感知系统、控制系统和电源,所述割草系统运动系统、感知系统和控制系统分别与电源电性连接；本方法通过电子罗盘输出的倾斜角,控制器判断电子罗盘输出的相邻的两个倾斜角是否落入预设的需要进行姿态调整的角度值区间内,从而判断车体是否需要进行姿态调整；本发明能够根据自身姿态进行调整,大大减少了出现割草机翻侧的情况。(The invention provides a working method of an intelligent mower, which comprises a mower body, wherein the mower body comprises a shell, a chassis, a power supply, a mowing system, a motion system, a sensing system and a control system, a cavity is formed between the shell and the chassis and used for mounting the mowing system, the motion system, the sensing system, the control system and the power supply, and the mowing system motion system, the sensing system and the control system are respectively and electrically connected with the power supply; according to the method, through the inclination angle output by the electronic compass, the controller judges whether two adjacent inclination angles output by the electronic compass fall into a preset angle value interval needing posture adjustment or not, so that whether the vehicle body needs posture adjustment or not is judged; the invention can be adjusted according to the posture of the mower, thereby greatly reducing the side turning situation of the mower.)

1. The working method of the intelligent mower is characterized in that: the intelligent mowing system comprises a vehicle body, wherein the vehicle body comprises a shell, a chassis, a power supply, a mowing system, a motion system, a sensing system and a control system, a cavity is formed between the shell and the chassis and used for mounting the mowing system, the motion system, the sensing system, the control system and the power supply, and the mowing system motion system, the sensing system and the control system are respectively and electrically connected with the power supply;

the mowing system comprises a blade and a mowing motor, wherein the mowing motor is arranged in the accommodating cavity, and the blade is connected with the output end of the mowing motor;

the device comprises a motion system, driving wheels, a driving motor and universal wheels, wherein the universal wheels are arranged on one side of a chassis, two driving wheels are symmetrically arranged on two sides of the chassis, the driving wheels are respectively connected with the driving motor, and the driving motor is arranged in a containing cavity;

the sensing system comprises an ultrasonic sensor, an infrared sensor and a speed sensor, wherein the ultrasonic sensor is arranged on the front side of the shell, and the infrared sensor and the speed sensor are respectively arranged on the shell;

the control system comprises a controller and an electronic compass, and the controller and the electronic compass are respectively arranged in the accommodating cavity; the mowing motor, the driving motor, the electronic compass and the sensing system are respectively and electrically connected with the controller;

the working method of the intelligent mower comprises the following steps:

(1) the electronic compass plans the route:

(2) the controller drives the mowing system and the moving system according to the route to mow;

(3) the obstacle avoidance system judges whether an obstacle exists in front of the vehicle body;

(3.1) if the obstacle is detected, replanning the mowing route by the electronic compass, controlling the moving motor to drive the vehicle body to turn by the controller, correcting the route by a PID algorithm, and entering the step (2);

(3.2) if no obstacle is detected, continuing to cut grass according to the original route;

(4) detecting the inclination angle theta of the vehicle body, and judging whether the vehicle body needs to be subjected to posture adjustment;

(4.1) detecting and outputting an inclination angle theta by the electronic compass to a controller, wherein the inclination angle theta is an angle formed by the vehicle body and a horizontal plane, and the controller judges whether the angle value of the inclination angle theta falls into an angle value interval [ x, y ] needing posture adjustment;

(4.1.1) if the inclination angle theta falls into the angle value interval, entering the step (4.2); if the inclination angle theta is smaller than the minimum value of the angle value interval, entering the step (4.1.2); if the inclination angle theta is larger than the maximum value of the angle value interval, entering the step (4.2);

(4.1.2) continuously mowing according to the original route without adjusting the posture of the vehicle body;

(4.2) the controller compares the angle value of the adjacent next inclination angle theta output by the electronic compass with the angle value interval of which the posture is required to be adjusted; if the angle value of the current inclination angle theta falls into the angle value interval again, entering the step (4.2.1); if the angle value of the current inclination angle theta is smaller than the minimum value of the angle value interval, entering the step (4.2.2); if the angle value of the current inclination angle theta is larger than the maximum value of the angle value interval, step (4.2.3);

(4.2.1) the controller controls the driving motor to adjust the vehicle body, the vehicle body moves to the opposite direction of the original route by a distance D, the opposite direction of the original route moves by the distance D, and D = the slope length D/tan theta; the slope length D = t × v, t is the time when the controller judges that the vehicle body has the side turning risk and stops when theta is greater than 3 degrees; v is the advancing speed of the vehicle body, and v is obtained through a speed sensor; until the angle value of the two adjacent inclination angles theta of the controller does not fall into the angle value interval, and then entering the step (1);

(4.2.2) continuing to mow according to the original route;

(4.2.3) judging that the vehicle body has the side turning, outputting a signal by the controller, turning off the mowing motor, and simultaneously giving a side turning warning to the vehicle body.

2. The working method of the intelligent mower according to claim 1, wherein: and (4.2.1) when the posture of the vehicle body is adjusted, the mowing motor is turned off.

3. The working method of the intelligent mower according to claim 1, wherein: and (3) arranging a microswitch in the accommodating cavity of the vehicle body, arranging a transmission element of the microswitch at one side of the inner wall of the shell, electrically connecting the microswitch with the controller, and turning off the mowing motor by the controller after the microswitch outputs a signal to the controller.

4. The working method of the intelligent mower according to claim 1, wherein: the frequency of the output inclination angle theta of the electronic compass is 1-5 times/second.

5. The working method of the intelligent mower according to claim 1, wherein: the motion system further comprises a worm gear, one end of the worm gear is connected with the driving wheel, and the other end of the worm gear is connected with the output end of the driving motor.

6. The working method of the intelligent mower according to claim 1, wherein: the blade is a roller type blade, the blade is movably arranged in the accommodating cavity, the chassis is provided with an avoiding groove corresponding to the blade, and the blade penetrates through the avoiding groove and extends out of the vehicle body.

7. The working method of the intelligent mower according to claim 1, wherein: the front side, the left side, the right front side and the right side of the shell are respectively provided with an ultrasonic sensor, and the infrared sensor is arranged between the two adjacent ultrasonic sensors.

8. The working method of the intelligent mower according to claim 1, wherein: the angle value interval needing posture adjustment is [18 degrees and 37 degrees ].

Technical Field

The invention relates to the technical field of mowing equipment, in particular to a working method of an intelligent mower.

Background

In recent years, with the continuous progress of science and technology, people's life style is constantly updated, people then constantly improve the requirement to the afforestation environment, will lead to places such as public greenbelt lawn, football lawn, park green place to need a large amount of personnel to manage and maintain like this, in order to share mankind's labour, reduce the pollution of traditional lawn mower tail gas to the air, people have provided the notion of intelligent lawn mower, intelligent lawn mower is more environmental protection, intelligence with traditional lawn mower relatively, control is simple and convenient more, do not need a large amount of personnel to operate. The intelligent mower utilizes the robot technology and the sensor technology, can sense, judge and decide the environment without human intervention, liberates people from complicated labor force, and reduces maintenance cost and labor force.

In order to solve the technical problems, a new energy intelligent mower is disclosed in the patent document with the Chinese patent number of 201720904337.4 and the publication date of 2018.05.01, and comprises a mower body, a left motor, a right motor, a mowing motor, a sensing system and a navigation system; the left motor is connected with a left wheel through a speed reducer; the right motor is connected with a right wheel through a speed reducer; the mowing motor is connected with a blade through a rotating shaft; the sensing system comprises a position sensor, an edge detection sensor, a tilt detector and a lift detection sensor; the navigation system comprises an electronic compass which is connected with the main control chip through a communication interface.

However, according to the lawnmower disclosed in this patent document, it is only possible to detect whether or not the lawnmower is turned over by the sensor, and turn off the mowing motor after the lawnmower is turned over, and this lawnmower cannot autonomously adjust the posture of the lawnmower, and the lawnmower needs to be manually reset every time the lawnmower is turned over, which is inconvenient to use.

Disclosure of Invention

The invention provides a working method of an intelligent mower capable of automatically adjusting posture.

In order to achieve the purpose, the technical scheme of the invention is as follows: the working method of the intelligent mower comprises a mower body, wherein the mower body comprises a shell, a chassis, a power supply, a mowing system, a motion system, a sensing system and a control system, a cavity is formed between the shell and the chassis and used for mounting the mowing system, the motion system, the sensing system, the control system and the power supply, and the mowing system motion system, the sensing system and the control system are respectively and electrically connected with the power supply;

the mowing system comprises a blade and a mowing motor, wherein the mowing motor is arranged in the accommodating cavity, and the blade is connected with the output end of the mowing motor;

the device comprises a motion system, driving wheels, a driving motor and universal wheels, wherein the universal wheels are arranged on one side of a chassis, two driving wheels are symmetrically arranged on two sides of the chassis, the driving wheels are respectively connected with the driving motor, and the driving motor is arranged in a containing cavity;

the sensing system comprises an ultrasonic sensor, an infrared sensor and a speed sensor, wherein the ultrasonic sensor is arranged on the front side of the shell, and the infrared sensor and the speed sensor are respectively arranged on the shell;

the control system comprises a controller and an electronic compass, and the controller and the electronic compass are respectively arranged in the accommodating cavity; the mowing motor, the driving motor, the electronic compass and the sensing system are respectively and electrically connected with the controller;

the working method of the intelligent mower comprises the following steps:

(1) the electronic compass plans the route:

(2) the controller drives the mowing system and the moving system according to the route to mow;

(3) the obstacle avoidance system judges whether an obstacle exists in front of the vehicle body;

(3.1) if the obstacle is detected, replanning the mowing route by the electronic compass, controlling the moving motor to drive the vehicle body to turn by the controller, correcting the route by a PID algorithm, and entering the step (2);

(3.2) if no obstacle is detected, continuing to cut grass according to the original route;

(4) detecting the inclination angle theta of the vehicle body, and judging whether the vehicle body needs to be subjected to posture adjustment;

(4.1) detecting and outputting an inclination angle theta by the electronic compass to a controller, wherein the inclination angle theta is an angle formed by a vehicle body and a horizontal plane, and the controller judges whether the angle value of the inclination angle theta falls into an angle value interval [ x, y ] needing posture adjustment;

(4.1.1) if the inclination angle theta falls into the angle value interval, entering the step (4.2); if the inclination angle theta is smaller than the minimum value of the angle value interval, entering the step (4.1.2); if the inclination angle theta is larger than the maximum value of the angle value interval, entering the step (4.2);

(4.1.2) continuously mowing according to the original route without adjusting the posture of the vehicle body;

(4.2) the controller compares the next adjacent inclination angle theta output by the electronic compass with the angle value interval of which the posture is required to be adjusted; if the angle value of the current inclination angle theta falls into the angle value interval again, entering the step (4.2.1); if the angle value of the current inclination angle theta is smaller than the minimum value of the angle value interval, entering the step (4.2.2); if the angle value of the current inclination angle theta is larger than the maximum value of the angle value interval, step (4.2.3);

(4.2.1) the controller controls the driving motor to adjust the vehicle body, the vehicle body moves to the opposite direction of the original route by a distance D, the opposite direction of the original route moves by the distance D, and D = the slope length D/tan theta; the slope length D = t × v, t is the time when the controller judges that the vehicle body has the side turning risk and stops when theta is greater than 3 degrees; v is the advancing speed of the vehicle body, and v is obtained through a speed sensor; until the angle value of the two adjacent inclination angles theta of the controller does not fall into the angle value interval, and then entering the step (1);

(4.2.2) continuing to mow according to the original route;

(4.2.3) judging that the vehicle body has the side turning, outputting a signal by the controller, turning off the mowing motor, and simultaneously giving a side turning warning to the vehicle body.

According to the method, the angle value range of the inclination angle theta which can possibly cause the vehicle body to turn over is preset, the controller continuously compares the inclination angle theta output by the electronic compass with the preset angle value range, the current angle value falls into the angle value range, and the next angle value is smaller than the minimum value of the angle value range, so that the vehicle body continues to mow according to the original route; when the two output adjacent angle values fall into the angle value range, judging that the vehicle body has the risk of turning over, and controlling a driving motor to adjust the posture of the vehicle body by a controller; and if the current angle value falls into the angle value interval and the next angle value is larger than the maximum value of the angle value interval, judging that the vehicle body is turned over.

Further, in the step (4.2.1), when the posture of the vehicle body is adjusted, the mowing motor is turned off, so that on one hand, the power supply can be solved, the cruising ability is improved, and on the other hand, the possibility that the blade hurts people due to the fact that the vehicle body is accidentally turned over during adjustment is prevented.

Further, a microswitch is arranged in the accommodating cavity of the vehicle body, a transmission element of the microswitch is arranged on one side of the inner wall of the shell, the microswitch is electrically connected with the controller, and after the microswitch outputs a signal to the controller, the controller turns off the mowing motor and the step (3) is carried out; above setting, after the automobile body bumps, in order to prevent that the blade from hindering the people, closing the motor of mowing to judge whether there is the barrier, improve work efficiency.

Further, the frequency of the output inclination angle theta of the electronic compass is 1-5 times/second; with the arrangement, under the condition that the frequency of the inclination angle theta output by the electronic compass is too high, when the vehicle body inclines due to stones and other factors in an external environment, the adjacent two inclination angles theta output by the electronic compass possibly fall into an angle value interval needing posture adjustment in a short time, so that misjudgment occurs; the possibility of erroneous judgment can be reduced by adjusting the frequency of the output tilt angle θ of the electronic compass.

Furthermore, the motion system also comprises a worm gear, one end of the worm gear is connected with the driving wheel, and the other end of the worm gear is connected with the output end of the driving motor; with the arrangement, when the vehicle body stays at the inclined position, the vehicle body can be prevented from slipping due to gravity.

Furthermore, the blade is a roller type blade, the blade is movably arranged in the accommodating cavity, the chassis is provided with an avoiding groove corresponding to the blade, and the blade penetrates through the avoiding groove and extends out of the vehicle body, so that the roller type blade has a good mowing effect.

Furthermore, ultrasonic sensors are respectively arranged on the front side, the left side, the right front side and the right side of the shell, and the infrared sensors are arranged between two adjacent ultrasonic sensors; therefore, the accuracy of the obstacle avoidance system during detection can be greatly improved.

Further, the angle value interval needing posture adjustment is [18 degrees, 37 degrees ].

Drawings

FIG. 1 is a schematic bottom view of the vehicle body with the chassis removed.

Fig. 2 is a schematic top view of the vehicle body according to the present invention.

Fig. 3 is a bottom view of the vehicle body according to the present invention.

Fig. 4 is a flow chart of the working method of the mower.

In the reference symbols:

1-shell, 10-cavity, 2-chassis, 3-power supply, 31-blade, 32-mowing motor, 33-gear assembly, 41-driving wheel, 42-driving motor, 43-universal wheel, 44-worm gear, 51-ultrasonic sensor, 52-infrared sensor and 6-control system.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

As shown in fig. 1-4, an operating method of an intelligent mower includes a vehicle body, the vehicle body includes a housing 1, a chassis 2, a power supply 3, a mowing system, a movement system, a sensing system, and a control system 6, a cavity 10 for installing the mowing system, the movement system, the sensing system, the control system 6, and the power supply 3 is formed between the housing 1 and the chassis 2, and the mowing system movement system, the sensing system, and the control system 6 are respectively electrically connected to the power supply 3.

The mowing system comprises a blade 31 and a mowing motor 32, wherein the mowing motor 32 is installed in the accommodating cavity 10, and the blade 31 is connected with the output end of the mowing motor 32.

The device comprises a motion system, driving wheels 41, driving motors 42 and universal wheels 43, wherein the universal wheels 43 are arranged on one side of the chassis 2, the two driving wheels 41 are symmetrically arranged on two sides of the chassis 2, the driving wheels 41 are respectively connected with the driving motors 42, and the driving motors 42 are arranged in the accommodating cavity 10.

The sensing system comprises an ultrasonic sensor 51 and an infrared sensor 52, wherein the ultrasonic sensor 51 is arranged on the shell 1, and the infrared sensor 52 is arranged on the shell 1.

The control system 6 comprises a controller and an electronic compass, and the controller and the electronic compass are respectively arranged in the accommodating cavity 10; the mowing motor 32, the driving motor 42, the electronic compass and the sensing system are respectively and electrically connected with the controller.

The working method of the intelligent mower comprises the following steps:

(1) the electronic compass plans the route.

(2) The controller drives the mowing system and the moving system according to the route to mow.

(3) The obstacle avoidance system judges whether an obstacle exists in front of the vehicle body.

(3.1) if the obstacle is detected, replanning the mowing route by the electronic compass, controlling the moving motor to drive the vehicle body to turn, correcting the route through a PID algorithm by the controller, and entering the step (2).

And (3.2) if no obstacle is detected, continuing mowing according to the original route.

(4) And detecting the inclination angle theta of the vehicle body, and judging whether the posture of the vehicle body needs to be adjusted or not.

(4.1) the electronic compass detects and outputs an inclination angle theta to the controller, wherein the inclination angle theta is an angle formed by the vehicle body and a horizontal plane, the controller judges whether the angle value of the inclination angle theta falls into an angle value interval needing posture adjustment, and the angle value interval of the inclination angle theta for posture adjustment is [18 degrees and 37 degrees ] in the embodiment.

(4.1.1) if the inclination angle theta falls into the angle value interval, entering the step (4.2); if the inclination angle theta is smaller than the minimum value of the angle value interval, entering the step (4.1.2); if the inclination angle theta is larger than the maximum value of the angle value interval, the step (4.2) is carried out.

(4.1.2) the mowing is continued according to the original route without adjusting the posture of the vehicle body.

(4.2) the controller compares the angle value of the adjacent next inclination angle theta output by the electronic compass with the angle value interval of which the posture is required to be adjusted; if the angle value of the current inclination angle theta falls into the angle value interval again, entering the step (4.2.1); if the angle value of the current inclination angle theta is smaller than the minimum value of the angle value interval, entering the step (4.2.2); and (4.2.3) if the angle value of the current inclination angle theta is larger than the maximum value of the angle value interval.

(4.2.1) the controller controls the driving motor to adjust the vehicle body, the vehicle body moves to the opposite direction of the original route by a distance D, the opposite direction of the original route moves by the distance D, and D = the slope length D/tan theta; the slope length D = t × v, t is the time when the controller judges that the vehicle body has the side turning risk and stops when theta is greater than 3 degrees; v is the advancing speed of the vehicle body, and v is obtained through a speed sensor; the speed acquisition by the speed sensor is the prior art, and the description is not repeated herein; until the angle value of the two adjacent tilt angles of the controller does not fall into the angle value interval, and then the step (1) is carried out.

(4.2.2) continuing to mow according to the original route.

(4.2.3) judging that the vehicle body has the side turning, outputting a signal by the controller, turning off the mowing motor, and simultaneously giving a side turning warning to the vehicle body.

According to the method, the controller continuously compares the inclination angle output by the electronic compass with a preset angle value range by presetting the angle value range of the inclination angle which can cause the vehicle body to turn over, the current angle value falls into the angle value range, and the next angle value is smaller than the minimum value of the angle value range, so that the vehicle body continues to mow according to the original route; when the two output adjacent angle values fall into the angle value range, the vehicle body is judged to have the risk of turning over, and the controller further controls the driving motor 42 to adjust the posture of the vehicle body; and if the current angle value falls into the angle value interval and the next angle value is larger than the maximum value of the angle value interval, judging that the vehicle body is turned over.

When the obstacle is detected in the normal running process, the controller controls the vehicle body to carry out steering running towards the side, away from the obstacle, of the running route according to the position of the obstacle on the left side or the right side of the running route of the vehicle body relative to the position of the obstacle; at the moment, the moving route deviates from the original route, and the moving route is corrected through a PID algorithm; the route is corrected by the PID algorithm to the prior art, and the description is not repeated again. In this embodiment, the output of the mowing motor 32 is drivingly connected to the blade 31 through a gear assembly 33.

In the step (4.2.1), when the posture of the vehicle body is adjusted, the mowing motor 32 is turned off, so that the power supply 3 can be solved, the cruising ability is improved, and the possibility that the blade 31 hurts people due to accidental side turning of the vehicle body during adjustment is prevented.

A microswitch is arranged in the accommodating cavity 10 of the vehicle body, a transmission element of the microswitch is arranged on one side of the inner wall of the shell 1, the microswitch is electrically connected with the controller, and after the microswitch outputs a signal to the controller, the controller turns off the mowing motor 32 and the step (3) is carried out; with the arrangement, after the vehicle body is collided, in order to prevent the blade 31 from hurting people, the mowing motor 32 is turned off, whether an obstacle exists or not is judged, and the working efficiency is improved.

The frequency of the output inclination angle of the electronic compass is 1-5 times/second; with the arrangement, under the condition that the frequency of the output inclination angle of the electronic compass is too high, when the vehicle body inclines due to stones and other factors in an external environment, two adjacent inclination angles output by the electronic compass possibly fall into an angle value interval needing posture adjustment in a short time, so that misjudgment occurs; the frequency of the output inclination angle of the electronic compass is adjusted, so that the possibility of error judgment can be reduced.

The motion system further comprises a worm gear, one end of the worm gear is connected with the driving wheel 41, and the other end of the worm gear is connected with the output end of the driving motor 42; with the arrangement, when the vehicle body stays at the inclined position, the vehicle body can be prevented from slipping due to gravity.

The blade 31 is a roller type blade, the blade 31 is movably arranged in the accommodating cavity 10, the chassis 2 is provided with an avoiding groove corresponding to the blade 31, and the blade 31 penetrates through the avoiding groove and extends out of the vehicle body, so that the roller type blade has a good mowing effect.

Ultrasonic sensors 51 are respectively arranged on the front side, the left side, the right front side and the right side of the shell 1, and the infrared sensors 52 are arranged between two adjacent ultrasonic sensors 51; therefore, the accuracy of the obstacle avoidance system during detection can be greatly improved.