CN102498364B - Contact sensor for lawns - Google Patents
Contact sensor for lawns Download PDFInfo
- Publication number
- CN102498364B CN102498364B CN200980161412.0A CN200980161412A CN102498364B CN 102498364 B CN102498364 B CN 102498364B CN 200980161412 A CN200980161412 A CN 200980161412A CN 102498364 B CN102498364 B CN 102498364B
- Authority
- CN
- China
- Prior art keywords
- lawns
- grass
- sleeve pipe
- contact sensor
- joint sleeve
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/006—Control or measuring arrangements
- A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
Abstract
A contact sensor for lawns comprises an upper casing and a lower casing connected by a middle connecting tube (6), an amplifying circuit (2) is arranged in the upper casing, one end of a general wiring harness (1) is connected with the amplifying circuit (2), the other end of the general wiring harness (1) extends out of the upper casing, an upper plug (5) is arranged at the lower end of the upper casing, a lower plug (7) is arranged at the upper end of the lower casing, a sensor unit is arranged in the lower casing or arranged in the upper casing and the lower casing separately. The contact sensor for lawns mounted on the chassis of a mowing robot is used for identifying the lawns and the length of the lawns, and can adapt to the working environment and conditions without affecting the normal walking of the mowing robot on the lawns.
Description
Technical field
The present invention relates to grass-removing robot corollary apparatus, specifically a kind of contact sensor for lawns.Espespecially be arranged on and on grass-removing robot chassis, be used for the sensing device of perception thick grass and thick grass length.
Background technology
Existing most grass-removing robot all can not the ground thick grass of initiative recognition and thick grass cut before and after the situation of change of length, the perform region and the scope of activities that consequently cause grass-removing robot self cannot Direct Recognition will carry out mowing activity, simultaneously also cannot be cut by identification thick grass before and after the situation of change of length select walking path and the mode of operation of efficient energy-saving.
In order to solve these problems of above-mentioned existence, most known grass-removing robots solve by some auxiliary equipment of extra increase and equipment, wherein the most frequently used method is, on work ground, signal generator and signal wire are installed, signal wire is wherein used for drawing a circle to approve the perform region of the work of will mowing in advance, signal generator loads specific signal to signal wire, grass-removing robot comes existence and the particular location of this signal of perception and signal wire by being arranged on specific sensor on its fuselage, thereby reaches the object of identification perform region.And for how realizing energy-efficient walking path and the problem of mode of operation, more existing grass-removing robots are realized by the rotating speed of monitoring mowing motor or the situation of change of electric current, also the gps satellite that passes through having is accurately realized location, and also having some is to utilize the north and south of earth magnetism to point to precision navigation to realize.
These above-mentioned solutions had both increased the complexity of mowing robot control system, also improved widely production cost, they bring great inconvenience also in use ultimate consumer and operating personnel simultaneously, the environment that they can not adaptation have initiatively converted, needs operating personnel's participation and resets just to carry out work.
The reason that occurs above-mentioned situation is the sensing device that lacks a kind of energy Direct Recognition thick grass and thick grass length.Because in the time that grass-removing robot is mowed on meadow, its working environment and condition of work are very complicated and severe, common sensor cannot be competent at for a long time.In the time that grass-removing robot is worked on meadow, its moving line and direction of motion can change frequently, thus the contact condition that causes being arranged on sensing device on body and thick grass as contact position with contact direction and also can change frequently; The dust of kicking up in a large amount of broken grass producing in mowing process simultaneously and grass juice factor and ground can continual pollution until damage sensing device; Sensing device also can collision frequently even be damaged in foreign material and the yo-yo ground of height numerous on meadow; In thick grass, even the rainy day also can affect normal use and the serviceable life of sensing device for a large amount of moisture and outdoor broken weather; Add sensing device due to long-term with thick grass in contacting frequently and touch the state of hitting, himself is also very easy aging and wear and tear.Above-mentioned these factors are superimposed and cause general induction installation and sensor to be difficult to long-term competent severe like this working environment.Meanwhile for fear of affecting normal walking and the work of grass-removing robot on meadow, the sensing device that is used for identifying thick grass and thick grass length can't produce excessive walking resistance to grass-removing robot, corner angle outstanding and too huge structure all can not meet such requirement.All these are perplexing development and the application of grass-removing robot.
Summary of the invention
For the defect existing in prior art, the object of the present invention is to provide a kind of contact sensor for lawns, be arranged on and on grass-removing robot chassis, be used for identifying thick grass and thick grass length, can overcome and working environment and the condition of competent grass-removing robot, can not affect the normal walking of grass-removing robot on meadow simultaneously.
For reaching above object, the technical scheme that the present invention takes is:
A kind of contact sensor for lawns, is characterized in that: comprise the upper shell and the lower house that are communicated with by intermediate connection tube 6,
In upper shell, be provided with amplifying circuit 2, total wire harness 1 one end is connected with amplifying circuit 2, and the other end stretches out outside upper shell,
Upper shell lower end is provided with stick harness 5,
Lower house upper end is provided with lower stick harness 7,
Sensor unit is located in lower house or is divided in upper shell and lower house.
On the basis of technique scheme, described sensor unit is acoustical-electrical transducer 9, and acoustical-electrical transducer 9 is located in lower stick harness 7, and is electrically connected with amplifying circuit 2.
On the basis of technique scheme, described sensor unit is angular transducer 111, and angular transducer 111 is located in lower stick harness 7, and is electrically connected with amplifying circuit 2.
On the basis of technique scheme, described sensor unit is a pair of infrared transmitting tube and receiving tube, and infrared transmitting tube and receiving tube are separately positioned in stick harness 5, lower stick harness 7, and is electrically connected with amplifying circuit 2.
On the basis of technique scheme, described upper shell comprises the upper installation gland bonnet 3 and the upper joint sleeve pipe 4 that fasten up and down, and upper stick harness 5 is located in upper joint sleeve pipe 4; Upper joint sleeve pipe 4 is connected with intermediate connection tube 6.
On the basis of technique scheme, described lower house comprise up and down the lower joint sleeve pipe 8 that fastens with under contact gland bonnet 10, lower stick harness 7 is located in lower joint sleeve pipe 8; Lower joint sleeve pipe 8 is connected with intermediate connection tube 6.
On the basis of technique scheme, intermediate connection tube 6 is elastic hose.
Contact sensor for lawns of the present invention, is arranged on grass-removing robot chassis and is used for identifying thick grass and thick grass length, can overcome and working environment and the condition of competent grass-removing robot, can not affect the normal walking of grass-removing robot on meadow simultaneously.
Brief description of the drawings
The present invention has following accompanying drawing:
The schematic appearance of Fig. 1 contact sensor for lawns
The sectional structure schematic diagram of Fig. 2 contact sensor for lawns
The circuit theory diagrams of Fig. 3 amplifying circuit
Fig. 4 the present invention is arranged on the local enlarged diagram on grass-removing robot chassis
Fig. 5 the present invention is arranged on a kind of embodiment on grass-removing robot
The schematic side view of Fig. 6 Fig. 5
Schematic diagram when Fig. 7 is provided with grass-removing robot of the present invention and occurs tilt condition
Schematic diagram when Fig. 8 is provided with grass-removing robot of the present invention and is lifted away from ground by level
Fig. 9 is provided with the schematic diagram of grass-removing robot of the present invention walking on mowing grassland
Figure 10 is provided with grass-removing robot of the present invention and walks at the schematic diagram for the treatment of on mowing grassland
The embodiment that Figure 11 the present invention is a kind of have been changed
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail.
Technical scheme of the present invention is the acoustic signals producing while utilizing an acoustical-electrical transducer to receive contact thick grass, and described acoustical-electrical transducer is arranged in the elastic shell of a sealing, and the contact end of this housing overhead has certain height.In the time that the contact end of sensor housing touches thick grass, the sound wave that acoustical-electrical transducer produces while receiving object contact also converts faint electric energy to it, again through amplifying circuit amplify process after output meet the level signal that digital signal requires, come thick grass that perception contacted and the length of thick grass with this.
As shown in Figure 1, 2, contact sensor for lawns of the present invention, comprises the upper shell and the lower house that are communicated with by intermediate connection tube 6, and intermediate connection tube 6 is elastic hose; Said elastic hose can be emulsion tube etc., and intermediate connection tube 6 also can be made by known resilient material, and in the time touching thick grass, housing can arbitrarily occur bending and deformation;
In upper shell, be provided with amplifying circuit 2, total wire harness 1 one end is connected with amplifying circuit 2, and the other end stretches out outside upper shell,
Upper shell lower end is provided with stick harness 5,
Lower house upper end is provided with lower stick harness 7,
Acoustical-electrical transducer 9 is located in lower stick harness 7, and is electrically connected with amplifying circuit 2.Described acoustical-electrical transducer refers to the electronic element that sound wave can be converted to electric energy, and representational device is as electret capacitor (the miaow head being commonly called as), micro-vibration-motor etc.
On the basis of technique scheme, described upper shell comprises the upper installation gland bonnet 3 and the upper joint sleeve pipe 4 that fasten up and down, and upper stick harness 5 is located in upper joint sleeve pipe 4; Upper joint sleeve pipe 4 is connected with intermediate connection tube 6.
On the basis of technique scheme, described lower house comprise up and down the lower joint sleeve pipe 8 that fastens with under contact gland bonnet 10, lower stick harness 7 is located in lower joint sleeve pipe 8; Lower joint sleeve pipe 8 is connected with intermediate connection tube 6.Lower contact gland bonnet in technical scheme should select the material with good sound wave transport properties to make, for example: be made by the fine and close solid material such as plastics or metal.
In technique scheme, upper installation gland bonnet, upper joint sleeve pipe, intermediate connection tube, lower joint sleeve pipe, lower contact gland bonnet, jointly formed one with extraneous relative isolated closed cavity.This enclosed construction first makes the present invention have very strong water proof and dust proof performance; Second its already present most of voice signal can completely cut off extraneous noncontact time, make the present invention have higher interference free performance.
In technique scheme, the resilient material that intermediate connection tube 6 adopts the energy free bend distortion such as emulsion tube also can automatically recover is made.When sensor housing and thick grass during in contact condition intermediate connection tube 6 can occur bending and deformation thereupon, and in the time disengaging its resilient.Such structure can reduce the infringement to sensor self in the time of contact thick grass, thereby extends fatigue performance and the serviceable life of sensor, also can reduce the contact resistance to grass-removing robot.Simultaneously such structure is also very easy to adjust the overall dimension of sensor housing, in the time need to adjusting the different terrain clearance of sensor, only needs the length of flexible steel in flat section tubing in the middle of changing to realize.
Intermediate connection tube 6 also can adopt non deformable hard material to be made, even can be the upper joint sleeve pipe 4 in the sensor shell structure, and upper stick harness 5, intermediate connection tube 6 and lower stick harness 7, lower joint sleeve pipe 8 is merged into parts.It is to cause the present invention's arbitrarily flexural deformation in the time contacting thick grass that this structure having changed is compared a maximum difference with original described structure; thereby produce very large walking resistance; but also can substantially meet and realize basic function of the present invention, should be considered to drop on as within protection scope of the present invention.As shown in Figure 3, be the circuit theory diagrams of amplifying circuit of the present invention, it is a basic signal amplification circuit, and the MIC showing in figure is exactly acoustical-electrical transducer 9, and its representational device is as electret capacitor or micro-vibration-motor etc.
Contact sensor for lawns compact conformation of the present invention, easy for installation, respond to sensitive, endurance simultaneously, shock resistance, there is very strong water proof and dust proof performance, can adapt to severe outdoor environment for use, be especially applicable to being arranged on the height that is used for responding to ground thick grass and thick grass on the chassis of outdoor grass-removing robot.The grass-removing robot that the sensor the is housed thick grass on perceiving ground and the length variations situation of thick grass whenever and wherever possible, thereby make grass-removing robot just can identify the zone of action of the work of will mowing without any additional utility appliance, and can automatically select walk corresponding walking path and mode of operation according to the variable condition of the cut front and back of thick grass length.
Contact sensor for lawns of the present invention has following feature:
1. the acoustic signals that the present invention utilizes sensor closure casing to produce in the time of contact thick grass is responded to contact condition as induction medium, and its induction is sensitive in time;
Shell of the present invention be one with extraneous relative isolated closure casing, can completely cut off so extraneous most undesired signal, there is again very strong water proof and dust proof performance;
3. intermediate connection tube of the present invention is owing to having adopted resilient material to be made, it can occur bending and deformation freely in the time of contact thick grass, thereby reduce the infringement to sensor self in the time of frequent contact thick grass, improve fatigue durability and the serviceable life of product, also can reduce the advance resistance to grass-removing robot simultaneously.
4. the round and smooth compactness of one-piece construction of the present invention, easy for installation, can not produce very large contact resistance.
Fig. 4 is that the present invention is arranged on the local enlarged diagram on grass-removing robot chassis, as shown in Figure 4, the chassis of grass-removing robot 41 is provided with contact sensor for lawns 42 of the present invention, when the end of contact sensor for lawns 42 and ground thick grass 44 are during in contact condition, gather corresponding signal by acoustical-electrical transducer 9, there is corresponding bending and distortion owing to being subject to the effect of the power producing because of contact in intermediate connection tube 6 simultaneously, flexural deformation one can be played buffer action like this, thus protection sensor itself; Two also can reduce the walking resistance to grass-removing robot, thereby do not affect normal walking and work on meadow.
Fig. 5 is that the present invention is arranged on a kind of embodiment on grass-removing robot, now having 5 contact sensor for lawns A, B, C, D, E is installed on the chassis of grass-removing robot, their terrain clearance is different, the wherein terrain clearance h1=1.5 centimetre of contact sensor for lawns A and E, the terrain clearance h2 of contact sensor for lawns B, C and D equals or is greater than slightly the terrain clearance h of mowing blade.Known to general knowledge, thick grass length on normal meadow is all greater than 1.5 centimetres, if the length of thick grass is less than 1.5 centimetres on ground, can think that such meadow is not need the grass-removing robot work of mowing in the above, that is to say grass-removing robot, length is less than or equal to thick grass=" without the grass " of 1.5 centimetres, and thick grass=" having grass " that length is greater than 1.5 centimetres.Certainly, if necessary, the height of h1 can also lower again, to adapt to actual needs.Same general knowledge, the thick grass that length is less than mowing blade terrain clearance h is " cutting " thick grass, is not cut namely " to be cut " thick grass and length is greater than the thick grass of mowing blade terrain clearance h.Shown in Fig. 5, contact sensor for lawns A and E can be used for differentiating " having grass " still " without grass " state, and it is " cutting " or " to be cut " thick grass that contact sensor for lawns B, C, D can be used for differentiating.
Fig. 6 is the side view of embodiment as shown in Figure 5, and in Fig. 6, contact sensor for lawns B, C, D, E omit and do not show, have only shown contact sensor for lawns A.As shown in Figure 6, when grass-removing robot walking is that length is while being greater than on the meadow of 1.5 centimetres " having grass ", thick grass on lower contact gland bonnet 10 and the meadow of contact sensor for lawns A is in close contact condition, and contact sensor for lawns A output high level signal " 1 " shines upon this contact condition; When grass-removing robot walking is length while being less than on the non-meadow of 1.5 centimetres at " without grass ", contact sensor for lawns A loses and contacts with thick grass, and contact sensor for lawns A output low level signal " 0 " shines upon this state.At the position of " having grass " and " without grass " combination, the boundary of perform region is particularly evident and crucial as shown in phantom in FIG. in a kind of like this variation of level signal, and grass-removing robot can be identified work border and perform region according to this variable condition of thick grass sensors A institute output signal.
Fig. 7 is the schematic diagram when grass-removing robot of the present invention is installed occurs tilt condition, when be provided with grass-removing robot of the present invention occur unexpected tilt or during by artificial upset, contact sensor for lawns A can be in long contactless state (and contact sensor for lawns E can in long contact condition), the rank in seconds normally for a long time here.At this moment contact sensor for lawns A continues output low level signal " 0 " and shines upon this state, grass-removing robot can judge accordingly occurred beyond dangerous situation, thereby control the machine status safety guard process that enters stopping alarm.
Fig. 8 is the schematic diagram when grass-removing robot of the present invention is installed is lifted away from ground by level; now contact sensor for lawns A and E are all for a long time in contactless state; they continue output low level signal " 0 " and shine upon this state; grass-removing robot judge accordingly occurred beyond situation, enter the security protection state of stopping alarm thereby control machine.
Fig. 9 is provided with the schematic diagram of grass-removing robot of the present invention walking on mowing grassland, now contact sensor for lawns B, and C, D is in contactless state, and their output low level signals " 0 " shine upon this contactless state.
Figure 10 is provided with grass-removing robot of the present invention to walk at the schematic diagram for the treatment of on mowing grassland, now contact sensor for lawns B, and C, D and thick grass are in contact condition, and their output high level signals " 1 " shine upon this contact condition.
In conjunction with known shown in Fig. 9 Figure 10, in the time that the setting height(from bottom) of contact sensor for lawns of the present invention is equal to or slightly greater than the terrain clearance h of mowing blade, being provided with that level signal that grass-removing robot of the present invention can thick grass sensor be exported according to the present invention identifies on meadow is mowed clump or thick grass to be cut, thereby selects corresponding walking path to carry out energy-efficient mowing work.For example, in the time that the grass-removing robot walking that contact sensor for lawns of the present invention is installed is on meadow as shown in Figure 9, sensor B, C, D output low level signal " 0 ", grass-removing robot judges that the thick grass on meadow of living in has been cut accordingly, thereby control mowing motor and quit work to save electric energy, continue drive machines simultaneously and find thick grass to be cut.Again for example in the time that the grass-removing robot walking that contact sensor for lawns of the present invention is installed is on meadow as shown in figure 10, sensor B, C, D output high level signal " 1 ", grass-removing robot judges that the thick grass on current meadow of living in is thick grass to be cut accordingly, restarts mowing motor and carries out mowing work thereby send steering order.Simultaneously grass-removing robot can also control be carried out for example circular involute urve of well-regulated walking path and is walked and work, and so not only can save electric energy, can also improve efficiency and the effect of mowing work.
Without prejudice to basic structural feature of the present invention in the situation that; the present invention can also have the embodiment of multiple variation; as shown in figure 11; in the situation that keeping monolithic case structure of the present invention constant; replace acoustical-electrical transducer 9 with angular transducer 111; flexural deformation when thick grass triggers the angular transducer being arranged in housing in contact to utilize shell of the present invention, thereby realize the induction to thick grass contact, within a kind of like this embodiment having changed also should be thought and drops on protection scope of the present invention.In the situation that keeping monolithic case structure of the present invention constant, can also replace acoustical-electrical transducer 9 same with a pair of infrared transmitting tube and receiving tube, for example: infrared transmitting tube is arranged on stick harness 5, infrared receiving tube is arranged on lower stick harness 7.When flexural deformation has occurred the intermediate connection tube 6 in the time contacting thick grass of the sensor housing after this variation, infrared receiving tube does not receive the light that infrared transmitting tube sends; In the time of sensor disengaging and thick grass contact condition, sensor housing restores to the original state, and infrared receiving tube receives the light that infrared transmitting tube sends again.Within a kind of like this embodiment having changed also should be thought and to drop on protection scope of the present invention.
Claims (11)
1. a contact sensor for lawns, is characterized in that: comprise the upper shell and the lower house that are connected by intermediate connection tube (6), described intermediate connection tube (6) is made up of resilient material,
In upper shell, be provided with amplifying circuit (2), total wire harness (1) one end is connected with amplifying circuit (2), and the other end stretches out outside upper shell, and upper shell lower end is provided with stick harness (5),
Lower house upper end is provided with lower stick harness (7), and sensor unit is located in lower house or is divided in upper shell and lower house, by the described sensor unit thick grass on perceiving ground and the length variations situation of thick grass whenever and wherever possible.
2. contact sensor for lawns as claimed in claim 1, it is characterized in that: described sensor unit is angular transducer (111), angular transducer (111) is located in lower stick harness (7), and is electrically connected with amplifying circuit (2).
3. contact sensor for lawns as claimed in claim 1, it is characterized in that: described sensor unit is a pair of infrared transmitting tube and receiving tube, infrared transmitting tube and receiving tube are separately positioned in stick harness (5), lower stick harness (7), and are electrically connected with amplifying circuit (2).
4. the contact sensor for lawns as described in claim 1 or 2 or 3, it is characterized in that: described upper shell comprises the upper installation gland bonnet (3) and the upper joint sleeve pipe (4) that fasten up and down, and upper stick harness (5) is located in upper joint sleeve pipe (4); Upper joint sleeve pipe (4) is connected with intermediate connection tube (6).
5. the contact sensor for lawns as described in claim 1 or 2 or 3, it is characterized in that: described lower house comprise up and down the lower joint sleeve pipe (8) that fastens with under contact gland bonnet (10), lower stick harness (7) is located in lower joint sleeve pipe (8); Lower joint sleeve pipe (8) is connected with intermediate connection tube (6).
6. a contact sensor for lawns, is characterized in that: comprise the upper shell and the lower house that are communicated with by intermediate connection tube (6),
In upper shell, be provided with amplifying circuit (2), total wire harness (1) one end is connected with amplifying circuit (2), and the other end stretches out outside upper shell, and upper shell lower end is provided with stick harness (5),
Lower house upper end is provided with lower stick harness (7), acoustical-electrical transducer (9) is located in lower stick harness (7), and with amplifying circuit (2) electrical connection, by described acoustical-electrical transducer (9) thick grass on perceiving ground and the length variations situation of thick grass whenever and wherever possible.
7. contact sensor for lawns as claimed in claim 6, it is characterized in that: described upper shell comprises the upper installation gland bonnet (3) and the upper joint sleeve pipe (4) that fasten up and down, and upper stick harness (5) is located in upper joint sleeve pipe (4); Upper joint sleeve pipe (4) is connected with intermediate connection tube (6).
8. contact sensor for lawns as claimed in claim 6, it is characterized in that: described lower house comprise up and down the lower joint sleeve pipe (8) that fastens with under contact gland bonnet (10), lower stick harness (7) is located in lower joint sleeve pipe (8); Lower joint sleeve pipe (8) is connected with intermediate connection tube (6).
9. contact sensor for lawns as claimed in claim 6, is characterized in that: intermediate connection tube (6) is elastic hose.
10. contact sensor for lawns as claimed in claim 7, is characterized in that: intermediate connection tube (6) is elastic hose.
11. contact sensor for lawns as claimed in claim 8, is characterized in that: intermediate connection tube (6) is elastic hose.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2009/073930 WO2011032307A1 (en) | 2009-09-15 | 2009-09-15 | Contact sensor for lawns |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102498364A CN102498364A (en) | 2012-06-13 |
| CN102498364B true CN102498364B (en) | 2014-07-09 |
Family
ID=43758010
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200980161412.0A Expired - Fee Related CN102498364B (en) | 2009-09-15 | 2009-09-15 | Contact sensor for lawns |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN102498364B (en) |
| WO (1) | WO2011032307A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108064539A (en) * | 2016-11-17 | 2018-05-25 | 苏州宝时得电动工具有限公司 | Electric tool and control method |
| DE102020129092A1 (en) | 2020-11-04 | 2022-05-05 | Eurogreen Gmbh | Robotic lawnmower, monitoring assembly, system and method for assessing the quality of a lawn |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103234446B (en) * | 2013-05-03 | 2015-05-13 | 杭州晶一智能科技有限公司 | Lawn height detection device based on piezoelectric sensor |
| CN103234460A (en) * | 2013-05-06 | 2013-08-07 | 慈溪迈思特电子科技有限公司 | Lawn height detection device based on infrared rays |
| CN104904414A (en) * | 2014-03-14 | 2015-09-16 | 宝时得机械(中国)有限公司 | Hay mower and scheduling method thereof |
| EP3412136B1 (en) | 2016-02-03 | 2024-05-15 | Positec Power Tools (Suzhou) Co., Ltd | Self-moving device and control method therefor |
| CN107920466B (en) * | 2016-02-03 | 2021-03-16 | 苏州宝时得电动工具有限公司 | Self-moving equipment and control method thereof |
| CN107479546B (en) * | 2016-06-07 | 2021-05-14 | 苏州宝时得电动工具有限公司 | Self-moving gardening equipment |
| US10765059B2 (en) | 2018-02-19 | 2020-09-08 | CNH Industrial Canada, LTD | Harvester with feedback assembly and methods of using the same |
| DE102018212412A1 (en) * | 2018-07-25 | 2020-01-30 | Robert Bosch Gmbh | Autonomous work tool |
| CN109751979B (en) * | 2019-03-04 | 2020-07-28 | 青岛圣歌瑞机电有限公司 | Metal mesh flatness detection device |
| SE543576C2 (en) * | 2019-08-29 | 2021-04-06 | Husqvarna Ab | Energy efficient lawn care vehicle |
| CN114812652B (en) * | 2022-04-20 | 2024-03-26 | 松灵机器人(深圳)有限公司 | Mower control method and device, mower and storage medium |
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| US7362439B2 (en) * | 2003-08-01 | 2008-04-22 | Li-Cor, Inc. | Method of detecting the condition of a turf grass |
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- 2009-09-15 CN CN200980161412.0A patent/CN102498364B/en not_active Expired - Fee Related
- 2009-09-15 WO PCT/CN2009/073930 patent/WO2011032307A1/en active Application Filing
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| JP2004024733A (en) * | 2002-06-28 | 2004-01-29 | Sanyo Electric Co Ltd | Golf cart |
| CN101084817A (en) * | 2007-04-26 | 2007-12-12 | 复旦大学 | Opening intelligent calculation frame household multifunctional small-sized service robot |
| CN101135911A (en) * | 2007-09-21 | 2008-03-05 | 浙江大学 | Grass cutter intelligence control system |
| CN201199324Y (en) * | 2008-05-16 | 2009-02-25 | 金士正 | Control system for automatically stopping mowing machine |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108064539A (en) * | 2016-11-17 | 2018-05-25 | 苏州宝时得电动工具有限公司 | Electric tool and control method |
| DE102020129092A1 (en) | 2020-11-04 | 2022-05-05 | Eurogreen Gmbh | Robotic lawnmower, monitoring assembly, system and method for assessing the quality of a lawn |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2011032307A1 (en) | 2011-03-24 |
| CN102498364A (en) | 2012-06-13 |
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