CN101091428A - Automatic mowing robot - Google Patents

Abstract

Translated fromChinese

本发明属于机器人应用技术领域，涉及一种户外移动机器人，特别涉及一种能自主执行草坪修剪任务的自动割草机器人。其特征是该自动割草机器人包括机器人车体、割草机构、控制系统和传感单元等部分。控制系统通过自主识别或下载的方式获得割草机器人的工作地图信息，通过传感单元实时采集割草机器人的内部和外部的动态信息，依照特定的控制策略和路径规划算法对割草机构和机器人车体进行无人工干预的自动控制。本发明的效果和益处是实现了草坪修剪工作的智能自动化，操作简单，成本低廉，清洁环保，解决了人工作业时劳动强度大、时间消耗高、工作重复枯燥及噪音污染和空气污染等缺点。

The invention belongs to the technical field of robot application, relates to an outdoor mobile robot, in particular to an automatic mowing robot capable of autonomously performing lawn trimming tasks. It is characterized in that the automatic lawn-mowing robot includes a robot body, a lawn-mowing mechanism, a control system, a sensing unit and the like. The control system obtains the working map information of the mowing robot through autonomous identification or downloading, collects the internal and external dynamic information of the mowing robot in real time through the sensing unit, and controls the mowing mechanism and robot according to a specific control strategy and path planning algorithm. The car body is automatically controlled without human intervention. The effect and benefit of the present invention is to realize the intelligent automation of lawn pruning work, simple operation, low cost, clean and environmental protection, and solve the shortcomings of manual work such as high labor intensity, high time consumption, repetitive and boring work, noise pollution and air pollution. .

Description

A kind of automatic mowing robot

Technical field

The invention belongs to the robot application field, relate to a kind of outdoor mobile robot, particularly relate to a kind of automatic mowing robot that can independently carry out the turf-mown task.

Background technology

Along with the growth of economy, the urban construction paces are accelerated gradually, have also driven the prosperity and development of greening industry thereupon.In the city, the lawn has dust suction, noise reduction, preserves moisture, short construction period and plurality of advantages such as conserve water and soil, and has arrived extensive use in various afforestation projects.At present, the lawn had become a kind of emerging industry already.

In various lawn maintenance operations, the work of turf-mown is the heaviest, and this work not only labour intensity height, labour intensity is big, and very strong repeatability is arranged; When employing internal combustion engine mower carries out operation, also noise pollution and air pollution can be brought, practitioner's healthy and peripheral environment will be had a strong impact on.A kind of smart machine that can automatically perform turf-mown work if can be designed, a large amount of labours and resource must be saved.

Recent years, semiconductor technology, information technology and mechanotronics have obtained significant progress, and this makes robot enter into daily use becomes possibility, and the dust-collecting robot that success is at present gone on the market is best explanation.Since two thousand, Chinese Lawn Industry has begun swift and violent developing stage especially, and a large amount of park green lands, golf course greenery patches, greenery patches, stadium all need to carry out daily pruning; Automatic mowing robot has characteristics such as the labour consumes less, safe, automaticity height, will inevitably be widely used in several years of future.

Automatic mowing robot is a kind of outdoor mobile model robot that has special mowing mechanism.Some large-scale companies to the carrying out of automatic mowing robot Primary Study, and released part automatic mowing robot product, as the Robomow of Friendly Machines company, the AmbrigioRobo-Lawnmower of Zucchetti company and the Husqvarna Auto Mower of Electrolux company etc.Though these automatic mowing robots can independently be carried out the mowing task in the particular job zone, the energy automatic obstacle-avoiding, they mostly adopt the mode of unordered irregular movement to realize traversal, and efficient is lower, and has the dead angle.Patent US5974347 provides a kind of four-wheel automatic mowing robot that has rotable antenna, this robot can be by three location, base station that are fixed on outside the working region, can realize preliminary traversal, but it has adopted the four wheel drive structure of similar automobile, radius of turn is bigger, can not realize the no-radius turning, in operation, stay not cutting zone easily; The antenna of rotation has also increased the complexity of mechanism, brings deviation easily.

How to realize that all standing of grass-removing robot in the particular job zone is the research emphasis and the difficult point of grass-removing robot, patent US6885912 provides a kind of mobile robot's of being suitable for region-wide covering method, characteristics are to bury plain conductor on border, working region and fixed obstacle border, the mobile robot discerns in the position of working region own by these leads, robot carries out specific diversion order when running into border, working region and fixed obstacle border, realize the traversal of working region with reciprocal course, unknown barrier and mobile object are discerned by the sensor in the robot, and dodge according to strategy execution.The path planning algorithm operand of this region-wide covering is low, but intelligent poor, lacks extraneous demarcation benchmark, is easy to generate to omit the zone.Patent CN2510249Y has then highlighted a kind of robot prototype at indoor cleaning, and the type of drive flexibility of differential gearing is strong, but this patent is not thoroughly discussed the robot architecture who is suitable for cutting operation, does not also realize intelligent unmanned operation.

Summary of the invention

The technical problem to be solved in the present invention is, to provide a kind of be the energy with electric power, have safety protecting mechanism, can independently carry out the automatic mowing robot of turf-mown task in the specific region.

Technical scheme of the present invention is: a kind of automatic mowing robot, comprise parts such as robot car body, mowing mechanism, control system and sensing unit, it is characterized in that: robot car body is the body of automatic mowing robot, and mowing mechanism, control system and sensing unit all are mounted thereon; Mowing mechanism is the operating part of automatic mowing robot, is used to bear the task of mowing, can drive cutterhead with different rotating speeds and different mowing height operations down; Sensing unit can be monitored the inside and outside information of automatic mowing robot, and this information is carried out preliminary processing, for control system provides simpler, and the feedback signal that is easier to handle; Control system is the control core of automatic mowing robot, control system is according to the map that obtains or learn in advance, rely on certain strategy and path planning algorithm, robot car body and mowing mechanism are carried out control corresponding with reference to the feedback signal of sensing unit transmission.

The robot car body of automatic mowing robot comprises robot car body chassis, DC speed-reducing, reduction box, motor-driven plate, drives wheel and directive wheel.

Reduction box in the robot car body of automatic mowing robot comprises synchronous toothed belt wheel steamboat, timing belt, synchronous toothed belt wheel bull wheel and drives wheel hub.

The mowing mechanism of automatic mowing robot comprises mowing mechanism motor overcoat, mowing mechanism motor, mowing mechanism motor and cutterhead connector, cutterhead and blade.

The sensing unit of automatic mowing robot comprises interior infrared sensor, outer infrared sensor, ultrasonic sensor, feeler, temperature sensor, human body pyroelectric sensor and sensing unit core processor.

The control system of automatic mowing robot comprises core controller, extension storage chip and communication module.In the control system of automatic mowing robot, also comprised the motion control strategy, security strategy and path planning algorithm.

Beneficial effect of the present invention: owing to adopted the differential type of drive that has reduction box, the output torque is big, can realize that the automatic mowing robot odd-job makes semidiameter turn, makes that path control is easier, and it is more flexible to turn; Mowing mechanism motor has been placed in the special mowing mechanism motor overcoat, can regulate the height of cutterhead, makes automatic mowing robot can adapt to different mowing requirement for height; Adopted compound sensing unit, the inside and outside information of energy comprehensive monitoring automatic mowing robot, intelligent than higher; Control system has been carried the extension storage chip, can realize a large amount of cartographic informations and the more storage of pahtfinder hard planning algorithm, makes the paleocinetic ability of automatic mowing robot strengthen, and can realize the region-wide covering of grass-removing robot working region.

Description of drawings

Fig. 1 is the structured flowchart of this automatic mowing robot.

Fig. 2 is the structure chart of this automatic mowing robot

Fig. 3 is the robot car body figure of this automatic mowing robot.

Fig. 4 is the reduction box figure in the automatic mowing robot car body.

Fig. 5 is the mowing mechanism of automatic mowing robot.

Fig. 6 is an automatic mowing robot course of work block diagram.

Fig. 7 divides example and subinterval traversal mode for subregion.

The different operating path that Fig. 8 adopts for the difformity subregion.

A is the screw type path; B is profile following-up type path;

C is the Reciprocatory path; D is the stochastic pattern path.

Among the figure:

1.robot car body 2. mowing mechanisms

3.control system 4. sensing units

5. drive wheel 6. reduction boxes

7. interiorinfrared sensor 8. DC speed-reducing

9. motor-drivencard 10. automatic mowing robot car body chassis

11.universal directive wheel 12. ultrasonic sensors

13. human bodypyroelectric sensor 14. battery pack

15. crash sensor 16. blades

17. cutterhead 18. outer infrared sensors

19. synchronous cog beltbelt wheel steamboat 20. synchronous cog belts

21. synchronous cog belt beltwheel bull wheel 22. drives the wheel hub bearing

23.live axle 24. wheel bearing enclosing covers

25. drivewheel hub bearing 26. wheel bearing enclosing covers

27. mowingmotor overcoat 28. mowing motors

29. drive the wheel hub bearing

Embodiment

Describe the specific embodiment of the present invention in detail below in conjunction with technical scheme and accompanying drawing:

After the automatic mowing robot start, at first finish the detection of internal hardware and software, with all random memory unit zero clearings.After resetting, the automatic mowing robot various piece begins to inquire user's executive mode.Executive mode is divided into two kinds, and a kind of is manually control, and the user handles grass-removing robot by remote controller; Another kind of mode is control automatically, and promptly automatic mowing robot independently carries out work.When selecting manually control, the automatic mowing robot control system will be opened Remote Control Interface, and remain to holding state, prepare to receive movement instruction at any time.When being chosen as automatic control mode, automatic mowing robot begins to make plan according to the information in the controller for the work of oneself.What deserves to be explained is, no matter be under manual control model or under automatic control mode, the relevant control commands of safety such as barrier instruction, dangerous situation emergency cutoff and the warning of personnel's hypotelorism of keeping away of automatic mowing robot enjoy priority to the control of automatic mowing robot all the time, to avoid potential danger as much as possible.

As select automatic mode operation, grass-removing robot will inquire abouts cartographic information on self memory, with the plan of arrangement corresponding work.When working region cataract or glaucoma thing was smaller, automatic mowing robot can adopt the method for dodging to carry out work; When barrier is bigger in the working region, automatic mowing robot will be divided into the subregion that barrier is not contained in several inside to the working region, as shown in Figure 6, automatic mowing robot is selected suitable traversal method according to the external physical characteristic of subregion then, common principle is: circular sub-area adopts the screw type path shown in Fig. 8 a, the uncomplicated subregion of rectangle and outline adopts the profile following-up type path shown in Fig. 8 b, the large tracts of land subregion of rule adopts the Reciprocatory path shown in Fig. 8 c, adopt the stochastic pattern path for the particular sub-region that can't judge, shown in Fig. 8 d.

Automatic mowing robot has adopted the type of drive of spider gear, and main principle is to utilize two driving wheels, 5 different rotating speeds to realize the motion of robot.The commentaries on classics of directcurrent generator 7 outputs is passed on the synchronous toothed beltwheel bull wheel 21 viatiming belt 20 apart from being delivered on the synchronous toothedbelt wheel steamboat 19, and then driveslive axle 23 motions, and final motion is realized by thedriving wheel 5 that live axle drives.Two drivingwheels 5 of automatic mowing robot are by 2 road L298 wafer Synchronization Control on themotor control card 8, and utilize pulse regulation speed according to the PWM principle.

When operation,ultrasonic sensor 12 is used to detect the barrier apart between automatic mowing robot 2m～15cm, automatic mowing robot in the invention process has been installed 3ultrasonic sensors 12 that point to different angles at front end, the core processor transmission obstacle information that they share a passage is sensing unit; Between per two ultrasonic sensors, 2 outsideinfrared sensors 18 also have been installed, the investigative range of infrared ray sensor is 15cm～10mm, can be used for compensatingultrasonic sensor 12 and can not detect the closely defective of obstacle; Uniform somecontact crash sensors 15 are used for detecting the collision of generation around the automatic mowing robot car body; These external environmental information sensors are by the bus core processor transmission data that are sensing unit, and the Sensor core processor carries out preliminary analysis and processing to these data, for the control system of automatic mowing robot provides external information.In robot interior, also comprise 3 interiorinfrared sensors 9, a detection that is used for the mower rotating speed, two detections that are used for vehicle wheel rotational speed in addition, the core processor of these data automatic mowing robot sensing units is not handled, and the back of only gaining feeds back to the control system of automatic mowing robot as status information.

The rotating ratio of the dc speed-regulating motor that the present invention adopts is 1/270, output is changeed apart from being 20Kg.cm, and synchronous toothed belt wheel and band are stepped tooth, helps transmitting the high distance of changeing, control system has adopted the development board of C51 compatibility, provides enough I/O mouths to carry out data acquisition and output on sheet.The basic machine of robot adopts high-strength aluminum alloy and high-strength engineering plastic manufacturing, have in light weight, advantages of high strength.

Claims (3)

1, a kind of automatic mowing robot comprises robot car body (1), mowing mechanism (2), control system (3) and sensing unit (4), it is characterized in that

Robot car body (1) comprises robot car body chassis (10), DC speed-reducing (7), direct current generator drive plate (8), reduction box (6), drives wheel (5) and universal directive wheel (11);

Reduction box (6) comprises synchronous toothed belt wheel steamboat (19), timing belt (20), synchronous toothed belt wheel bull wheel (21) and drives wheel hub (23);

Mowing mechanism (2) comprises mowing mechanism motor overcoat (27), mowing mechanism motor (28), motor cutterhead connector (29), cutterhead (17) and blade (16).

2, automatic mowing robot according to claim 1, its feature are that also described control system (4) comprises core controller, extension storage chip and communication module.

3, automatic mowing robot according to claim 1, its feature are that also described sensing unit (4) comprises interior infrared sensor (9), outer infrared sensor (18), ultrasonic sensor (12), crash sensor (15), human body pyroelectric sensor (13), temperature sensor and sensing unit core processor.

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