CN102771246A - Intelligent mower system and intelligent mowing method thereof - Google Patents

Abstract

The invention relates to an intelligent mower system and an intelligent mowing method thereof. The intelligent mower system comprises a mower, a camera device arranged on the mower, sensors arranged on the mower, a boundary electronic fence and a charging station. In a mowing area defined by the boundary electronic fence, the intelligent mower finishes recognition of mowing conditions in a current local range, achieves intelligent mowing of a lawn in the area, and conducts shielding, boundary control and automatic return charging by using the camera device arranged on the mower and a mowing motor current detecting device and by integrating monocular vision technology and data of all the sensors. The method enables the intelligent mower to conduct different mowing actions according to conditions of lawn density and distribution and the like in the area, and therefore mowing efficiency is improved, service life of the intelligent mower is prolonged, energy consumption is saved, and independency of the mower is improved.

Description

A kind of intelligent grass-removing system and intelligent mowing method thereof

Technical field

The present invention is a kind of intelligent grass-removing system and intelligent mowing method thereof, is meant especially to utilize intelligent grass-removing to carry camera head and each sensor device, in border fence delineation zone, accomplishes high efficiency smart and mows.

Background technology

Along with the development of urban construction, the raising of people's environmental protection understanding, the urban afforestation level has become the standard of weighing a city development level and people's quality of life.In recent years, the greenery patches of city square and biotope was increasing, and was day by day heavy for the maintenance workload on lawn, and people begin to attempt utilizing electronic information technology to realize intelligent method of mowing.Each manufacturer has released intelligent grass-removing product separately one after another, and makes every effort under the prerequisite of controlling cost, and seeks safelyr, simple and direct, and the method for mowing efficiently is for the user provides more intelligentized service.

Traditional by route or the mode of mowing the at random underaction that under real mowing situation, seems, the consideration for the density degree and the dispersion level on different lawns are not made refinement yet causes its mowing efficient lower, and the service life of mower is shorter.

Summary of the invention

Main purpose of the present invention provides a kind of intelligent grass-removing system and intelligent mowing method thereof, utilizes its intelligent mowing method, based on the actual conditions on lawn in the defined area, realizes efficient autonomous intelligent cutting operation.

For achieving the above object, the present invention adopts following technical scheme to realize:

A kind of intelligent grass-removing system; Comprise mower, border fence and charging station, the top of mower is equipped with and carries camera head, and sensor is installed on the mower; Said mower is battery-powered, and the control platform has PWM speed governing driving force and data-handling capacity; The camera head that carries of said mower is installed in mower top cover top, can overlook mower lawn on every side; Self each sensor of said mower mainly comprises motor speed Hall counter, mowing motor current detection device, anticollision switch and both sides inductance checkout gear; Said border fence is used for delineation mowing zone, is that mower delimited the mowing border; Said charging station is positioned at border fence line, can dock with intelligent grass-removing to charge.

The camera head that carries of said mower cooperates with the interior data processing platform (DPP) of mower; Possesses the monocular vision disposal ability; Can through analyzing in this regional area of lawn image discriminating of taking whether have the grass that did not also cut; And can extract the regional edge edge of not mowing, estimate the angular relationship and the relative distance of wait to mow regional quality heart position and mower current location.

Said mowing motor current detection device can detect the electric current in the mowing motor operation course in real time, and converts sampled value into digital quantity input intelligent grass-removing data processing platform (DPP), thereby judges the density degree on current lawn.

Said border fence can be detected by both sides inductance checkout gear on the mower, during operate as normal as boundary limitation; When the electrohydraulic mower quantity not sufficient, mower relies on the inductance checkout gear of both sides that fence is surveyed and tracking, and final tracking finds the charging station of boundary to accomplish the butt joint charging.

A kind of intelligence mowing method of intelligent grass-removing includes following operating procedure:

A) intelligent grass-removing is at the lawn image of current location through the shooting of analysis camera head; Search out the zone, level ground of not mowing; And estimate direction and the distance that mower need be advanced; Mower is accomplished this predetermined action through the Hall counter on two turbin generators, arrives the predetermined area and begins the mowing of involute pattern; As do not search out and wait to mow the zone, then get into straight line pattern at random;

B) in the mowing process; Thereby the mowing motor current detection device detects the density situation that current of electric is judged current lawn; Make intelligent grass-removing regulate two speed that wheel is advanced, keep the mowing motor in normal operating conditions, can be because of the overload protection break-off;

C) the involute pattern makes wheel evenly quicken constantly in difference through the circular arc differentiation, and passes through the feedback stability rotating speed of Hall counter, thereby makes involute evenly scatter as far as possible;

D) in the involute mowing process; As mow current of electric mower advance one the circle most of the time in be in Light Condition; Then mower stops the involute pattern immediately; To involute circle is outer change squareness after, turn back to like A) described in state, regional by camera head with the next mowing of mowing motor current detection device search;

E) at random under the straight line pattern, intelligent grass-removing is through the mowing that in the defined area, keeps in obscurity at random of anticollision switch and both sides inductance checkout gear, and seeks through camera head and mowing motor current detection device and to wait the zone of mowing; If continuous a period of time of mowing current of electric surpasses threshold value, show that then current region has grass or grass not to cut only, then enter into the involute pattern and mowed in this zone.

The beneficial effect that the present invention has: intelligent grass-removing is in the mowing zone of border fence delineation; Camera head that dependence carries and mowing motor current detection device; Through the data fusion of monocular vision technique and each sensor, accomplish cognition to mowing situation in the current subrange, realize the intellectuality on lawn in the zone is mowed; Utilize self each sensor to keep in obscurity simultaneously, boundary Control and return charging automatically.This method makes intelligent grass-removing make different mowing behaviors to situation such as lawn density in the zone and distributions, thereby improves mowing efficient, prolongs the service life of intelligent grass-removing, and the saving energy consumption has strengthened the independence of mower.

Description of drawings

Fig. 1 is the system schematic of a kind of intelligent grass-removing of the present invention system.

Fig. 2 is the fundamental diagram of intelligent mowing method according to the invention.

The practical implementation method

Below in conjunction with accompanying drawing, practical implementation method of the present invention is described.

With reference to shown in Figure 1; A kind of intelligent grass-removing system; Comprise mower 1, carrycamera head 2, self each sensor,border fence 8 and charging station 9; Mower 1 is battery-powered, and the control platform has PWM speed governing driving force and data-handling capacity, can be by man-machine interface and wireless remote controller control; Mower carriescamera head 2 and is installed in mower top cover top, can overlook the mower interior lawn of certain limit on every side; Each sensor of mower self mainly comprises motor speed Hall counter 6, mowing motorcurrent detection device 3,anticollision switch 5 and both sides inductance checkout gear 4;Border fence 8 is used for delineation mowing zone, is that mower delimited the mowing border; Charging station 9 is positioned at somewhere on theborder fence 8, can dock with mower 1 to charge.

Mower carriescamera head 2 and cooperates with mower 1 interior data processing platform (DPP); Possesses the monocular vision disposal ability; Can through analyzing in this regional area of lawn image discriminating of taking whether have the grass that did not also cut; And can extract thezone boundary 10 of not mowing, estimate the angular relationship and the relative distance of wait to mow regional 10centroid positions 11 and mower current location.

Mowing motorcurrent detection device 3 can detect the electric current in mowingmotor 7 runnings in real time, and converts sampled value into digital quantity input intelligent grass-removing data processing platform (DPP), thereby judges the density degree on current lawn.

Border fence 8 can be detected by both sides inductance checkout gear 4 on the mower, during operate as normal as boundary limitation; When the electrohydraulic mower quantity not sufficient, mower relies on 4 pairs of fences of inductance checkout gear, 8 row of both sides to survey and tracking, and final tracking finds the charging station 9 of boundary to accomplish the butt joint charging.

Describe the intelligence mowing method of a kind of intelligent grass-removing of the present invention system in detail below in conjunction with Fig. 1 and Fig. 2:

The lawn image that intelligent grass-removing 1 is taken throughanalysis camera head 2 in current location; Search out the zone,level ground 10 of not mowing; And estimate direction and the distance that mower need be advanced; Mower is accomplished this predetermined action through the Hall counter on two turbin generators 6, arrives thepredetermined area 11 beginning involute patterns and mows; As do not search out the zone of not mowing, then get into straight line pattern at random.On the other hand, the zone is bigger if the graphical analysis discovery is waited to mow, and surpasses maximum mowing radius under the involute pattern, is apart from waiting to mow edges of regions involute maximum radius place with the involute centralized positioning then.

In the mowing process; Thereby mowing motorcurrent detection device 3 detects the density situation that mowingmotor 7 electric currents are judged current lawn; Make intelligent grass-removing regulate two speed that wheel is advanced, zero load is to full speed ahead, and the dense more then speed of the grass that runs into is fallen lowly more; Keep the mowing motor in normal operating conditions, can be because of the overload protection break-off.

The involute pattern is differentiated through circular arc makes wheel evenly quicken constantly in difference, and passes through the feedback stability rotating speed of Hall counter 6, thereby makes involute evenly scatter as far as possible.In the involute mowing process; If the mowing current of electric mower advance one the circle most of the time in be in Light Condition; Then mower stops the involute pattern immediately; After outside the involute circle, changeing squareness, search for the next zone of mowing again bycamera head 2 and mowing motorcurrent detection device 3.

At random under the straight line pattern, intelligent grass-removing 1 is through mowings that in the defined area, keep in obscurity at random ofanticollision switch 5 and both sides inductance checkout gear 4, and throughcamera head 2 and mowing motorcurrent detection device 3 seek wait to mow regional; If continuous a period of time of mowing current of electric surpasses threshold value, show that then current region has grass or grass not to cut only, then enter into the involute pattern and mowed in this zone.

Final not enough or all find to wait the zone of mowing under the stochastic model in a long time when intelligent grass-removing 1 electric weight, then intelligent grass-removing 1 returns charging station 9 through both sides inductance checkout gear 4tracking border fences 8 and charges and await orders.

Claims (5)

1. intelligent grass-removing system; Comprise mower, border fence and charging station; The top of mower is equipped with and carries camera head; And sensor is installed on the mower, it is characterized in that: said mower is battery-powered, and the control platform has PWM speed governing driving force and data-handling capacity; The camera head that carries of said mower is installed in mower top cover top, can overlook mower lawn on every side; Self each sensor of said mower mainly comprises motor speed Hall counter, mowing motor current detection device, anticollision switch and both sides inductance checkout gear; Said border fence is used for delineation mowing zone, is that mower delimited the mowing border; Said charging station is positioned at border fence line, can dock with intelligent grass-removing to charge.

2. according to the described a kind of intelligent grass-removing of right 1 system; It is characterized in that: the camera head that carries of said mower cooperates with the interior data processing platform (DPP) of mower; Possesses the monocular vision disposal ability; Can through whether having the grass that did not also cut in this regional area of lawn image discriminating of analyze taking, and can extract the regional edge edge of not mowing, estimate the angular relationship and the relative distance of wait to mow regional quality heart position and mower current location.

3. according to the described a kind of intelligent grass-removing of right 1 system; It is characterized in that: said mowing motor current detection device can detect the electric current in the mowing motor operation course in real time; And convert sampled value into digital quantity input intelligent grass-removing data processing platform (DPP), thereby judge the density degree on current lawn.

4. according to the described a kind of intelligent grass-removing of right 1 system, it is characterized in that: said border fence can be detected by both sides inductance checkout gear on the mower, during operate as normal as boundary limitation; When the electrohydraulic mower quantity not sufficient, mower relies on the inductance checkout gear of both sides that fence is surveyed and tracking, and final tracking finds the charging station of boundary to accomplish the butt joint charging.

5. the intelligence mowing method of an intelligent grass-removing is characterized in that, includes following operating procedure:

A) intelligent grass-removing is at the lawn image of current location through the shooting of analysis camera head; Search out the zone, level ground of not mowing; And estimate direction and the distance that mower need be advanced; Mower is accomplished this predetermined action through the Hall counter on two turbin generators, arrives the predetermined area and begins the mowing of involute pattern; As do not search out and wait to mow the zone, then get into straight line pattern at random;

B) in the mowing process; Thereby the mowing motor current detection device detects the density situation that current of electric is judged current lawn; Make intelligent grass-removing regulate two speed that wheel is advanced, keep the mowing motor in normal operating conditions, can be because of the overload protection break-off;

C) the involute pattern makes wheel evenly quicken constantly in difference through the circular arc differentiation, and passes through the feedback stability rotating speed of Hall counter, thereby makes involute evenly scatter as far as possible;

D) in the involute mowing process; As mow current of electric mower advance one the circle most of the time in be in Light Condition; Then mower stops the involute pattern immediately; To involute circle is outer change squareness after, turn back to like A) described in state, regional by camera head with the next mowing of mowing motor current detection device search;

E) at random under the straight line pattern, intelligent grass-removing is through the mowing that in the defined area, keeps in obscurity at random of anticollision switch and both sides inductance checkout gear, and seeks through camera head and mowing motor current detection device and to wait the zone of mowing; If continuous a period of time of mowing current of electric surpasses threshold value, show that then current region has grass or grass not to cut only, then enter into the involute pattern and mowed in this zone.

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