Ground-contour-following autonomous obstacle avoidance mower for hillside orchards and control method thereof

A ground-contour-following autonomous obstacle avoidance mower for hillside orchards, comprising a mechanical section and a control system, wherein

• the mechanical section comprises a header and a tracked chassis, a winch support and a control box are arranged on a chassis body of the tracked chassis, a push-rod-motor rear connecting base in front of the winch support is connected to a rear end of a push rod motor, an electric winch is mounted in a middle of the winch support, and a two-dimensional laser radar is mounted at a top end of the winch support;
• a navigation system is further arranged on the chassis body of the tracked chassis;
• the header comprises buffer depth-limiting mechanisms, a front depth-limiting-mechanism connecting plate, a motor connecting plate, a header supporting plate and a rear depth-limiting-mechanism connecting plate, a front end of the front depth-limiting-mechanism connecting plate is connected to three of the buffer depth-limiting mechanisms, support frames are arranged on the front end of the front depth-limiting-mechanism connecting plate at positions not connected to the buffer depth-limiting mechanisms, a rear end of the front depth-limiting-mechanism connecting plate is sequentially connected to the motor connecting plate and the rear depth-limiting-mechanism connecting plate, an upper side of the motor connecting plate is connected to the header supporting plate, and an edge of a rear end of the rear depth-limiting-wheel-mechanism connecting plate is connected to two of the buffer depth-limiting mechanisms;
• each of the buffer depth-limiting mechanisms comprises a mounting base, a buffer spring, a rotating pair connecting rod and a universal depth-limiting wheel, a lower side of the mounting base is connected to the front depth-limiting-mechanism connecting plate and the rear depth-limiting-mechanism connecting plate, two ends of the buffer spring are respectively connected to the rotating pair connecting rod and the mounting base, the rotating pair connecting rod is in a shape of a letter “J”, a lower end of the rotating pair connecting rod is connected to the mounting base, and an outer side of the rotating pair connecting rod is connected to the universal depth-limiting wheel by a universal depth-limiting-wheel connecting bracket;
• the control system comprises a drive system and a detection main control system, the drive system is configured to drive the tracked chassis to operate, the detection main control system comprises the two-dimensional laser radar, the navigation system, a radar-associated attitude sensor, a barometer, a 4G communication system, and an upper industrial computer, the two-dimensional laser radar, the navigation system, the radar-associated attitude sensor, and the barometer all communicate with the upper industrial computer, the barometer and the radar-associated attitude sensor are mounted inside the two-dimensional laser radar, and the 4G communication system is configured to enable communication between the upper industrial computer and a cloud server;
• and the upper industrial computer further performs signal transmission with a chassis lower computer and a header lower computer.