CN211580673U - Single-core four-wheel drive's robot of mowing - Google Patents

Abstract

The utility model discloses a single-core four-wheel drive robot mower, which comprises a control unit, wherein the control unit consists of a main control unit, an inclination sensor, a collision sensor, a rainwater sensor, a gyroscope and a control panel, and the inclination sensor, the collision sensor, the rainwater sensor, the gyroscope and the control panel are in signal connection with the main control unit; when the mowing robot meets an obstacle, turns over or rains in the process of executing tasks, the sensor acquires an external signal and sends the external signal to the main control unit, and the walking motor and the cutting knife motor are adjusted. The utility model discloses various special circumstances in the robot working process of mowing have been considered comprehensively for robot work efficiency is showing and is improving.

Description

Single-core four-wheel drive's robot of mowing

Technical Field

The utility model belongs to the technical field of the robot that mows, concretely relates to mononuclear four wheel drive's robot that mows.

Background

Mowing robots are commonly used for lawn trimming maintenance in homes, parks, gardens, communities, golf courses. The mowing robot can automatically walk and mow without manual operation, so that the labor can be reduced, the working efficiency is improved, and the mowing height and the mowing quality can be kept stable. However, mowing robots often encounter various special situations in work, such as: when the robot encounters an obstacle, the robot turns over or rains in the working process, and the existing mowing robot assists the mowing robot to handle various special conditions by installing equipment such as a depth camera and a radar.

Disclosure of Invention

In view of this, the utility model provides a single-core four-wheel drive's robot of mowing to various condition that meet in the processing better.

The utility model adopts the following technical proposal to realize the technical purpose.

A single-core four-wheel drive mowing robot comprises a mowing robot body and a control unit, wherein four driving wheels are arranged at the lower part of the mowing robot body; the control unit comprises a main control unit, an inclination sensor, a collision sensor, a rainwater sensor, a gyroscope and a control panel, wherein the inclination sensor, the collision sensor, the rainwater sensor, the gyroscope and the control panel are in signal connection with the main control unit, the sensor collects external signals, the gyroscope collects auxiliary information of the steering angle of the machine body, and the control panel is used for interacting with a user.

In the technical scheme, the driving wheel is fixedly connected with the speed reducer, the speed reducer is fixedly connected with the walking motor, the walking motor is connected with the driver, and the driver is connected with the main control unit.

In the technical scheme, the collision sensor is arranged in the collision rod, and the collision rod is arranged on two sides of the front part of the machine body.

In the technical scheme, the inclination sensor, the rainwater sensor and the gyroscope are all arranged on the machine body.

The utility model has the advantages that: the utility model relates to a mononuclear four wheel drive's robot of mowing, the control unit includes slope sensor, collision sensor, rainwater sensor, gyroscope and control panel, when the robot of mowing is at the executive task, meets the barrier, when turning over or rainy weather, external signal is gathered to all kinds of sensors to give the main control unit, the operating condition of main control unit adjustment walking motor and cutting knife motor for the robot can be nimble, the various emergency of steady processing.

Drawings

Fig. 1 is a schematic structural view of a single-core four-wheel drive mowing robot of the present invention;

fig. 2 is a control schematic diagram of a single-core four-wheel drive mowing robot according to the present invention;

fig. 3 is a control flow chart of the single-core four-wheel drive mowing robot of the utility model;

fig. 4 is a flow chart of the work interruption of the single-core four-wheel drive mowing robot of the utility model;

fig. 5 is a flow chart of the mowing robot driven by the single-core four-wheel according to the utility model for executing mowing task.

Wherein: 1-a fuselage; 2-a walking motor; 3-a reducer; 4-driving wheel; 5-a mowing motor; 6-cutting knife; 7-a driver; 8-collision bar; 8 a-a first impact bar; 8 b-a second impact bar; 9-a battery; 10-a main control unit; 11-a tilt sensor; 12-a rain sensor; 13-a gyroscope; 14-control panel.

Detailed Description

The following detailed description of the embodiments of the present invention will be made with reference to the accompanying drawings.

As shown in fig. 1 and 2, a single-core four-wheel drive mowing robot comprises abody 1, awalking motor 2, aspeed reducer 3, adriving wheel 4, amowing motor 5, acutting knife 6, a driver 7, an impact rod 8, abattery 9 and a control unit.

The control unit comprises amain control unit 10, aninclination sensor 11, a collision sensor, a rainwater sensor 12, agyroscope 13 and acontrol panel 14, theinclination sensor 11, the collision sensor, the rainwater sensor 12, thegyroscope 13 and thecontrol panel 14 are all in signal connection with the main control unit, various sensors are used for acquiring signals, the gyroscope provides auxiliary information of a steering angle of themachine body 1, and the control panel is used for interacting with a user. The collision rod 8 comprises afirst collision rod 8a and asecond collision rod 8b, thefirst collision rod 8a and thesecond collision rod 8b are installed on two sides of the front portion of the machine body, collision sensors are arranged in thefirst collision rod 8a and thesecond collision rod 8b, and the collision sensors are connected with the central control unit and send external collision signals. Thetilt sensor 11, the rain sensor 12, and thegyroscope 13 are all provided on thebody 1. The chip of the main control unit adopts STM32F405, the main frequency is 168MHz, and the chip supports single-cycle DSP instructions and floating point units, maximum SRAM capacity, network interfaces, data encryption and other more advanced external equipment.

Thewalking motor 2 is fixedly connected with aspeed reducer 3, and thespeed reducer 3 is fixedly connected with adriving wheel 4; in the embodiment, thewalking motor 2 adopts a direct-current brushless servo motor with a stopping self-locking function, and fourdriving wheels 4 are respectively arranged at the left front part, the right front part, the left rear part and the right rear part of the lower part of themachine body 1 along the advancing direction of the mowing robot. Amowing motor 5 is arranged in the middle of the lower part of themachine body 1, and themowing motor 5 is fixedly connected with acutting knife 6. A driver 7, amain control unit 11 and abattery 9 are arranged in the middle of the upper part of themachine body 1, and thebattery 9 is communicated with a power supply of a charging station through a charging butt-joint device 10 for charging; a canopy is arranged around the charging station. Thewalking motor 2 and themowing motor 5 are both connected with a driver 7, and the driver 7 is in signal connection with amain control unit 10. Themain control unit 10 provides amplified PWM control signals to thewalking motor 2 through the driver 7, and thewalking motor 2 controls the driving and braking of thedriving wheel 4 through thespeed reducer 3. Themain control unit 10 provides a control signal to themowing motor 5 through the driver 7, and themowing motor 5 controls the action of thecutting knife 6.

As shown in fig. 3, the working process of the single-core four-wheel drive mowing robot is as follows:

step (1), when the mowing robot needs to be started, the authority password is input into thecontrol panel 14, the mowing robot starts to work, and otherwise, the mowing robot waits for an authority starting command in situ.

Step (2), initialization: themain control unit 10 detects whether the modules work normally, and if abnormal conditions exist, an alarm is sent out through thecontrol panel 14 to prompt personnel to process; themain control unit 10 detects whether the voltage of thebattery 9 is too low, if the voltage is too low, the situation that the robot cannot work due to low electric quantity is prompted, the robot is controlled to travel to a charging station, thebattery 9 is connected with an external power supply through a charging butt joint device, the battery is charged through an alternating current power supply, and the fact that the mowing robot has enough electric energy to complete tasks is guaranteed.

Step (3), after entering the main program, inquiring keys and flag bits of the control panel 14: the user interacts with the mowing robot using thecontrol panel 14, such as setting a lawn map, setting a mowing mode, adjusting a mowing height, setting a mowing task, and the like, and the mowing robot sets the associated flag.

Step (4), judging whether the robot needs to get out of the charging station: if the mowing robot is in the charging station and the user needs to take the mowing robot out of the charging station, the main control unit controls the charging butt-joint device to disconnect thebattery 9 from the alternating current power supply, and the mowing robot is converted into a battery power supply state.

And (5) judging whether to execute a mowing task: if the mowing task needs to be executed, the mowing robot executes the mowing task, and the other person exits from the current cycle and enters into the next cycle.

As shown in fig. 4, the robot mower may enter an external interrupt when encountering a special situation, and includes the following steps:

step (1), entering interruption: the associated flag bit is checked.

And (2) if the flag bit of theinclination sensor 11 is enabled, the mowing robot is turned over, at the moment, themain control unit 10 adjusts PWM (pulse-width modulation) signal output through internal servo control, immediately closes thecutting knife motor 5 and thewalking motor 2, and resets software to prevent accidents.

Step (3), if the collision sensor flag bit is enabled, it is indicated that there is an obstacle in front, themain control unit 10 adjusts the PWM signal output of the travelingmotor 2 through internal servo control, controls the mowing robot to stop in a safe range, and the mowing robot will retreat a distance and turn right around the obstacle; in the moving process of the mowing robot, a magnetoelectric sensor arranged in awalking motor 2 can constantly detect the acceleration, the speed and the position of the walking motor and feed back to amain control unit 10, and themain control unit 10 secondarily adjusts a PWM (pulse width modulation) wave control signal of thewalking motor 2 to meet the actual requirement; the mowing robot will continue the previous mowing work after bypassing the obstacle.

And (4) if the zone bit of the rainwater sensor 12 is enabled, it is indicated that the robot is raining, the wet grassland is not suitable for mowing, themain control unit 10 converts the running distance of thewalking motor 2 into an acceleration reference instruction value, a speed reference instruction value and a position reference instruction value according to a path which is planned by the robot and returns to a charging station, then themain control unit 10 generates a driving signal for driving thewalking motor 2 by combining the feedback of the magnetoelectric sensor of thewalking motor 2, the driving signal is amplified by a power bridge and then drives thewalking motor 2 to move in the opposite direction, the magnetoelectric sensor feeds back the running parameters of the motor to themain control unit 10 in real time in the movement process, and themain control unit 10 finely adjusts the PWM control signal of thewalking motor 2 secondarily according to the feedback parameters to carry out closed-loop control.

And (5) after the mowing robot returns to the charging station, a charging butt connector on the mowing robot is butted with a charging system, the mowing robot is converted into an alternating current power supply state, and the alternating current power supply charges the battery. At the moment, the mowing robot enters a stopping self-locking mode, the mowing robot is locked at a charging station and can not move under the influence of external force, and the safety and stability of the charging process are guaranteed.

As shown in fig. 5, the mowing robot performs a mowing task, including the steps of:

step (1), themain control unit 10 judges whether the electric quantity of thebattery 9 is insufficient, and if the electric quantity is insufficient, the robot is controlled to return to a charging station for charging; if the charge is sufficient, the next step is entered.

Step (2), themain control unit 10 judges whether the current position of the robot is close to the boundary, if so, themain control unit 10 controls thewalking motor 2 to realize the steering of the robot; otherwise, the next step is carried out.

And (3) converting the running distance of thewalking motor 2 into an acceleration, a speed and a position reference instruction value by themain control unit 10, then generating a driving signal for driving thewalking motor 2 by themain control unit 10 by combining the feedback of a magnetoelectric sensor of the walking motor, amplifying the driving signal by a power bridge, driving thewalking motor 2 to move in opposite directions, feeding the running parameters of the motor back to the main control unit by the magnetoelectric sensor in real time in the moving process, and carrying out closed-loop control by themain control unit 10 according to the PWM control signal of thewalking motor 2 finely adjusted secondarily by the feedback parameters so as to enable the mowing robot to walk for a distance forwards.

And (4) judging whether the mowing working time is longer than the set working time or not by themain control unit 10, if so, finishing the mowing task, controlling the person of the mower to return to the charging station, and otherwise, exiting the current cycle and entering the next cycle.

The above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting the same, and workers in the technical field can still make equivalent substitutions for some technical features, and any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be covered by the technical solutions claimed in the present invention.

Claims (4)

1. A single-core four-wheel drive robot mower is characterized in that: the mowing robot comprises a mowing robot body and a control unit, wherein four driving wheels (4) are arranged at the lower part of a mowing robot body (1); the control unit comprises a main control unit (10), an inclination sensor (11), a collision sensor, a rainwater sensor (12), a gyroscope (13) and a control panel (14), wherein the inclination sensor, the collision sensor, the rainwater sensor, the gyroscope (13) and the control panel (14) are in signal connection with the main control unit, the sensors collect signals, the gyroscope (13) collects auxiliary information of steering angles of the machine body (1), and the control panel (14) is used for interacting with a user.

2. The mono-nuclear four-wheel drive lawn mowing robot of claim 1, wherein: the driving wheel (4) is fixedly connected with the speed reducer (3), the speed reducer (3) is fixedly connected with the walking motor (2), the walking motor (2) is connected with the driver (7), and the driver (7) is connected with the main control unit (10).

3. The mono-nuclear four-wheel drive lawn mowing robot of claim 1, wherein: the collision sensor is arranged in a collision rod (8), and the collision rod (8) is arranged on two sides of the front part of the machine body.

4. The mono-nuclear four-wheel drive lawn mowing robot of claim 1, wherein: the inclination sensor (11), the rainwater sensor (12) and the gyroscope (13) are all arranged on the machine body (1).

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