CN102771246B - 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, refers to especially and utilizes intelligent grass-removing to carry camera head and each sensor device, completes high efficiency smart and mow in border fence delineation region.

Background technology

Along with the development of urban construction, the raising of people's environmental protection understanding, 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, day by day heavy for the maintenance workload on lawn, and people start 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 finds safelyr, simple and direct, and the method for mowing efficiently, for user provides more intelligentized service.

Traditional by route or the mode of mowing the at random underaction that seems in real mowing situation, do not make the consideration of refinement for the density degree on different lawns and dispersion level yet, cause its mowing efficiency lower, the service life of mower is shorter.

Summary of the invention

Main purpose of the present invention is to provide a kind of intelligent grass-removing system and intelligent mowing method thereof, utilizes its intelligent mowing method, according to the actual conditions on lawn in 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 provided with and carries camera head, and sensor is installed on mower, described mower is battery-powered, controls platform and has PWM speed governing driving force and data-handling capacity; The camera head that carries of described mower is arranged on mower top cover top, can overlook mower lawn around; Self each sensor of described mower mainly comprises motor speed Hall counter, mowing motor current detection device, anticollision switch and both sides inductance detection device; Described border fence is used for drawing a circle to approve mowing region, for mower delimited mowing border; Described charging station is positioned at border fence line, can dock and charge with intelligent grass-removing.

The camera head that carries of described mower coordinates with data processing platform (DPP) in mower, possesses monocular vision disposal ability, in this regional area of lawn image discriminating that can take by analysis, whether there is the grass also not cutting, and can extract the regional edge edge of not mowing, estimate angular relationship and the relative distance of regional quality heart position to be mowed and mower current location.

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

Described border fence can detect by both sides inductance detection device on mower, while normally work as boundary limitation; In the time of electrohydraulic mower quantity not sufficient, mower relies on the inductance detection device of both sides to survey and tracking fence, and final tracking finds the charging station of boundary to complete docking charging.

An intelligence mowing method for intelligent grass-removing, includes following operating procedure:

A) the lawn image that intelligent grass-removing is taken by analyzing camera head in current location, search out the region, level ground of not mowing, and estimate direction and the distance that mower need to be advanced, mower completes this predetermined action by the Hall counter on two turbin generators, arrives the predetermined area and starts the mowing of involute pattern; As do not search out region to be mowed, enter random straight line pattern;

B) in mowing process, thereby mowing motor current detection device detection current of electric judges the density situation on current lawn, make intelligent grass-removing regulate two speed that wheel is advanced, maintain mowing motor in normal operating conditions, can be because of overload protection break-off;

C) involute pattern is differentiated wheel is not evenly being accelerated in the same time by circular arc, and by the feedback stability rotating speed of Hall counter, thereby involute is evenly scattered as far as possible;

D) in involute mowing process, as mow current of electric in mower is advanced most of the time of a circle in Light Condition, mower stops involute pattern immediately, outside involute circle, turn after squareness, turn back to as A) described in state, search for next mowing region by camera head and mowing motor current detection device;

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

The beneficial effect that the present invention has: intelligent grass-removing is in the mowing region of border fence delineation, the camera head that dependence carries and mowing motor current detection device, by the data fusion of monocular vision technique and each sensor, complete the cognition to the situation of mowing in current subrange, realize the intellectuality on lawn in region is mowed, utilize self each sensor to keep in obscurity, boundary Control and auto-returned charging simultaneously.The method makes intelligent grass-removing make different mowing behaviors to situations such as lawn density and distributions in region, thereby improves mowing efficiency, extends the service life of intelligent grass-removing, saves energy consumption, has strengthened the independence of mower.

Brief description of the drawings

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

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

specific implementation method

Below in conjunction with accompanying drawing, specific embodiment of the invention method is described.

Shown in Fig. 1, a kind of intelligent grass-removing system, comprise mower 1, carry camera head 2, self each sensor, border fence 8 and charging station 9, mower 1 is battery-powered, control platform and there is PWM speed governing driving force and data-handling capacity, can be by man-machine interface and wireless remote controller control; Mower carries camera head 2 and is arranged on mower top cover top, can overlook the mower lawn in certain limit around; The each sensor of mower self mainly comprises motor speed Hall counter 6, mowing motor current detection device 3, anticollision switch 5 and both sides inductance detection device 4; Border fence 8 is for drawing a circle to approve mowing region, for mower delimited mowing border; Charging station 9 is positioned at somewhere on border fence 8, can dock and charge with mower 1.

Mower carries camera head 2 and coordinates with the interior data processing platform (DPP) of mower 1, possesses monocular vision disposal ability, in this regional area of lawn image discriminating that can take by analysis, whether there is the grass also not cutting, and can extract the zone boundary 10 of not mowing, estimate angular relationship and the relative distance of region to be mowed 10 centroid positions 11 and mower current location.

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

Border fence 8 can detect by both sides inductance detection device 4 on mower, while normally work as boundary limitation; In the time of electrohydraulic mower quantity not sufficient, mower relies on the inductance detection device 4 of both sides to survey and tracking fence 8 row, and final tracking finds the charging station 9 of boundary to complete docking charging.

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

The lawn image that intelligent grass-removing 1 is taken by analyzing camera head 2 in current location, search out the region, level ground 10 of not mowing, and estimate direction and the distance that mower need to be advanced, mower completes this predetermined action by the Hall counter 6 on two turbin generators, arrives the predetermined area 11 and starts the mowing of involute pattern; As do not search out the region of not mowing, enter random straight line pattern.On the other hand, if graphical analysis finds that region to be mowed is larger, exceeding maximum mowing radius under involute pattern, is distance edges of regions involute maximum radius to be mowed place by involute centralized positioning.

In mowing process; thereby detecting mowing motor 7 electric currents, mowing motor current detection device 3 judges the density situation on current lawn; make intelligent grass-removing regulate two speed that wheel is advanced; zero load is to full speed ahead; the denseer speed of grass running into is fallen lowlyer; maintain mowing motor in normal operating conditions, can be because of overload protection break-off.

Involute pattern is differentiated wheel is not evenly being accelerated in the same time by circular arc, and by the feedback stability rotating speed of Hall counter 6, thereby involute is evenly scattered as far as possible.In involute mowing process, if mowing current of electric in mower is advanced most of the time of a circle in Light Condition, mower stops involute pattern immediately, outside involute circle, turn after squareness, again search for next mowing region by camera head 2 and mowing motor current detection device 3.

Under random straight line pattern, intelligent grass-removing 1 is by the mowing that keeps in obscurity at random in defined area of anticollision switch 5 and both sides inductance detection device 4, and finds region to be mowed by camera head 2 and mowing motor current detection device 3; If continuous a period of time of mowing current of electric exceedes threshold value, show that current region has grass or grass not to cut only, then enter into involute pattern and mowed in this region.

Final when intelligent grass-removing 1 electric weight is not enough or all do not find region to be mowed under stochastic model in a long time, intelligent grass-removing 1 returns to charging station 9 by both sides inductance detection device 4 tracking border fences 8 and charges and await orders.

Claims (1)

1. an intelligence mowing method for intelligent grass-removing, is characterized in that, includes following operating procedure:

A) the lawn image that intelligent grass-removing is taken by analyzing camera head in current location, search out the region, level ground of not mowing, and estimate direction and the distance that mower need to be advanced, mower completes predetermined action by the Hall counter on two turbin generators, arrives the predetermined area and starts the mowing of involute pattern; As do not search out region to be mowed, enter random straight line pattern;

B) in mowing process, thereby mowing motor current detection device detection current of electric judges the density situation on current lawn, make intelligent grass-removing regulate two speed that wheel is advanced, maintain mowing motor in normal operating conditions, can be because of overload protection break-off;

C) involute pattern is differentiated wheel is not evenly being accelerated in the same time by circular arc, and by the feedback stability rotating speed of Hall counter, thereby involute is evenly scattered as far as possible;

D) in involute mowing process, as mow current of electric in mower is advanced most of the time of a circle in Light Condition, mower stops involute pattern immediately, outside involute circle, turn after squareness, turn back to as A) described in state, search for next mowing region by camera head and mowing motor current detection device;

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