CN106054898A - Intelligent weeding machine and weeding method - Google Patents
Intelligent weeding machine and weeding method Download PDFInfo
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- CN106054898A CN106054898A CN201610612540.4A CN201610612540A CN106054898A CN 106054898 A CN106054898 A CN 106054898A CN 201610612540 A CN201610612540 A CN 201610612540A CN 106054898 A CN106054898 A CN 106054898A
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- 238000009333 weeding Methods 0.000 title claims abstract description 29
- 238000000034 method Methods 0.000 title claims abstract description 15
- 244000025254 Cannabis sativa Species 0.000 claims abstract description 7
- 230000004888 barrier function Effects 0.000 claims description 18
- 230000001133 acceleration Effects 0.000 claims description 14
- 238000001514 detection method Methods 0.000 claims description 14
- 230000002363 herbicidal effect Effects 0.000 claims description 9
- 241001494496 Leersia Species 0.000 claims description 6
- 238000002372 labelling Methods 0.000 claims description 6
- 238000012544 monitoring process Methods 0.000 claims description 3
- 239000007921 spray Substances 0.000 claims description 3
- 230000003137 locomotive effect Effects 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 description 8
- 238000007726 management method Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000004927 fusion Effects 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 230000005389 magnetism Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 230000008929 regeneration Effects 0.000 description 1
- 238000011069 regeneration method Methods 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
Abstract
The application discloses an intelligent weeding machine and a weeding method. The intelligent weeding machine comprises a multi-sensor information collection module, a central processing unit, a weeding machine wheel driving device, and a weeding machine grass cutter driving device. The central processing unit makes the weeding machine wheel driving device and the weeding machine grass cutter driving device run by receiving the information of the multi-sensor information collection module. The multi-sensor information collection module comprises a boundary identification sensor used for identifying the boundary of a lawn, an obstacle identification sensor used for identifying whether the weeding machine collides with an obstacle, a range counter used for calculating the range of the weeding machine, an azimuth identification sensor group used for sensing the levelness, speed and direction of the weeding machine in real time, and an auxiliary sensor group, which are independently installed on the weeding machine. According to the intelligent weeding machine and the weeding method of the invention, the charging and working frequencies of the weeding machine are reduced, power is saved, the service life of the onboard battery is increased, and power consumption is reduced.
Description
Technical field
The disclosure relates generally to automatization's agricultural gardens apparatus field, is specifically related to intelligence weeding apparatus, particularly relates to intelligence
Can weeder and herbicidal methods.
Background technology
Weeder is also known as hay mover, grass mower, lawn mower etc..Weeder be a kind of for cutting the grass on a lawn, vegetation etc.
Machine tool, owing to its weeding work giving gardens, agricultural or family's greening brings great convenience, therefore use extensively
General.
Intelligent auto-manual system, drag type, pusher line, sitting type can be divided into by traveling model split weeder, dragged
Machine drawing suspension type.These weeders are required for human assistance and promote operation just can complete to mow, and the workload of mowing personnel is still
The biggest, especially in hot summer.
The most also the weeder of some intelligence, existing intelligence weed-eradicating robot product random path is had to work at present,
Run into border and barrier is just dodged or returns, randomly generate another operating path, a large amount of repetitive operation thus occurs
Path, efficiency is the lowest.
Summary of the invention
In view of drawbacks described above of the prior art or deficiency, it is desirable to provide the intelligence that a kind of automaticity is high, efficiency is high
Weeder and herbicidal methods.
First aspect, the present invention provides a kind of intelligence weeder, and this intelligence weeder includes that multi-sensor information gathers mould
Block, central processing unit, weeder wheel driver, weeder hay knife driving means；Described central processing unit is by receiving
The information of multi-sensor information acquisition module controls described weeder wheel driver and weeder hay knife driving means fortune
Turn；Described multi-sensor information acquisition module includes the border for identifying border, lawn being independently arranged on weeder
Identify sensor, for identifying whether weeder collides the obstacle recognition sensor of barrier, for calculating weeder boat
The voyage enumerator of journey, for the sensing levelness of weeder, speed and the orientation recognition sensor group in direction and auxiliary in real time
Sensor group.
In a preferred embodiment, described aiding sensors group include independently being arranged on weeder for sensing
Whether raining rains detects sensor, for sensing the driving condition detection sensor of weeder running status, for monitoring
The power management device of weeder power supply status and for detecting the distance measuring sensor of obstacle distance weeder distance.
In a preferred embodiment, described orientation recognition sensor group includes that integrated three-dimensional electronic gyroscope, three-dimensional add
Speed sensor and dimensionally Magnetic Sensor.
In a preferred embodiment, intelligence weeder also includes the man machine interface LCD touch pad being arranged on weeder.
On the other hand, the herbicidal methods of above-mentioned weeder is used to comprise the following steps,
A () weeder sets out with charging station for initial point, central processing unit receives the information control identifying Boundary Recognition sensor
Weeder wheel driver processed takes a round return charging station along the border row of work place.
B (), during step (a) is run, central processing unit receives orientation recognition sensor group, voyage counting simultaneously
The information of device draws the electronic chart of the coordinate values labelling with work place.
C () central processing unit calculates the optimum walking path of weeder with the information of electronic chart.
D () central processing unit controls described weeder wheel driver and walks according to optimum walking path, control simultaneously
Weeder hay knife driving means operates.
E (), in the running of step (d), central processing unit receives the information of obstacle recognition sensor simultaneously, if
Run into barrier, then central processing unit positional information of labelling barrier in electronic chart, recalculate optimum walking simultaneously
Path.
F (), in the running of step (d), central processing unit receives obstacle recognition sensor, orientation recognition simultaneously
The information of sensor group and aiding sensors group controls the operating of weeder.
The technical scheme provided according to the embodiment of the present application, by comprising the steps of in described step, central authorities process
Device accurately calculates the positional information of barrier according to the information of obstacle recognition sensor and distance measuring sensor.
Central processing unit can accurately calculate barrier in combination with the information of obstacle recognition sensor and distance measuring sensor
Positional information.
According to some embodiment of the application, described step (f) specifically includes following step by step:
(f-1) information of the three-dimensional electronic gyroscope during central processing unit receives orientation recognition sensor group judges weeder
Fuselage whether beyond the gradient preset, if beyond; alert would also control weeder wheel driver and weeding
Machine cut grass driving device for cutter is out of service, performs next step if not；
(f-2) the information identification weeding of the three dimension acceleration sensor during central processing unit receives orientation recognition sensor group
The traffic direction of machine and the speed of service；
(f-3) three dimension acceleration sensor during central processing unit receives voyage enumerator and orientation recognition sensor group
Information judges whether the chassis of weeder is stuck, if then giving a warning information, and control weeder wheel driver and
Weeder hay knife driving means is out of service, performs next step if not；
(f-4) three dimension acceleration sensor during central processing unit receives orientation recognition sensor group and three-dimensional earth magnetism sensing
The information of device accurately judges the traffic direction of weeder, and corrects the traffic direction of weeder wheel driver and optimum walking
Path matches；
(f-5) central processing unit receives the rain information of detection sensor of the volume in aiding sensors group and determines whether down
Rain, the situation of spray, if it is out of service then to control weeder hay knife driving means, and control weeder wheel driver
Run to charging station and charge and perform step (f-9), perform next step if not；
(f-6) information of the driving condition detection sensor during central processing unit receives aiding sensors group judges that control removes
Grass locomotive wheel driving means is the most consistent, if otherwise sending out with the parameter preset with the operational factor of weeder hay knife driving means
Go out warning message and control weeder wheel driver and weeder hay knife driving means is out of service, if being carried out next
Step；
(f-7) information of the power management device during central processing unit receives aiding sensors group reads weeder work
Time the voltage of battery, electric current, capacity information, central processing unit judges that weeder power supply reached to put critical point, if control
Weeder hay knife driving means shuts down, and controls weeder wheel driver and run and charge to charging station and perform step
Suddenly (f-9), if otherwise performing next step；
(f-8) central processing unit judges whether weeder runs the terminal to optimal path, if then central processing unit control
Weeder hay knife driving means processed shuts down, and control weeder wheel driver charging station charge, if otherwise holding
Row step (c).
(f-9) central processing unit judges whether weeder power supply reached to rush critical point, stops filling if controlling weeder
Electricity, if otherwise performing step (f-8).
Shortest path first used in above-mentioned steps (c) and step (e) uses Floyd algorithm, the thought of this algorithm
Be, if D (i, j, k) be from i to j in the length of only shortest path with certain summit k in vertex set V as intermediate node.
If shortest path is through some k, then D (i, j, k)=D (i, k, k-1)+D (k, j, k-1)；
If shortest path is without a k, then D (i, j, k)=D (i, j, k-1).
Therefore
D (i, j, k)=min (D (i, k, k-1)+D (k, j, k-1), D (i, j, k-1)).
As shown from the above formula: add after other summit is intermediate node on the basis of original path, if distance reduces,
Just original path is substituted with new route.After continuous renewal, i.e. can get shortest path.
One of a kind of efficient embodiment of above-mentioned simply shortest path first, in other embodiments, it is also possible to adopt
With other shortest path first, such as Dijkstra (Di Jiesitela) algorithm.
In sum, the invention has the beneficial effects as follows: reduce charging and the number of times of work of weeder, reach saves energy
Purpose, can complete within the minimum time maximum work efficiency, and all region covering can realize without cutting blind area.
Increase the service life of on-board batteries, reduce the loss of electric energy.In similar-type products, the new technique of present invention application can save
The electric energy of about 30%-40%.And whole work process completely dispenses with manual intervention, fully achieve the full-automatic of weeder
Change.
Accompanying drawing explanation
By the detailed description that non-limiting example is made made with reference to the following drawings of reading, other of the application
Feature, purpose and advantage will become more apparent upon:
Fig. 1 is the theory diagram of intelligence weeder of the present invention；
Fig. 2 is the flow chart of intelligence herbicidal methods of the present invention；
In figure:
10, central processing unit；
20, weeder wheel driver；
30, weeder hay knife driving means；
41, Boundary Recognition sensor；
42, obstacle recognition sensor；
43, voyage enumerator；
44, orientation recognition sensor group；
45, aiding sensors group；
45-1, rain detection sensor；
45-2, driving condition detection sensor；
45-3, power management device；
45-4, distance measuring sensor；
44-1, three-dimensional electronic gyroscope；
44-2, three-dimensional acceleration sensor；
44-3, dimensionally Magnetic Sensor；
50, man machine interface LCD touch pad；
Detailed description of the invention
With embodiment, the application is described in further detail below in conjunction with the accompanying drawings.It is understood that this place is retouched
The specific embodiment stated is used only for explaining related invention, rather than the restriction to this invention.It also should be noted that, in order to
It is easy to describe, accompanying drawing illustrate only and invent relevant part.
It should be noted that in the case of not conflicting, the embodiment in the application and the feature in embodiment can phases
Combination mutually.Describe the application below with reference to the accompanying drawings and in conjunction with the embodiments in detail.
Refer to the theory diagram that Fig. 1 is intelligence a kind of embodiment of weeder, this weeder includes that multi-sensor information is adopted
Collection module, central processing unit 10, weeder wheel driver 20, weeder hay knife driving means 30；Multi-sensor information
Acquisition module include independently being arranged on weeder for identifying the Boundary Recognition sensor 41 on border, lawn, for knowing
Whether other weeder collides the obstacle recognition sensor 42 of barrier, for calculating the voyage enumerator of weeder voyage
43, for the sensing levelness of weeder, speed and the orientation recognition sensor group 44 in direction and aiding sensors group 45 in real time；
Central processing unit 10 controls described weeder wheel driver 20 He by the information receiving multi-sensor information acquisition module
Weeder hay knife driving means 30 operates.
Boundary Recognition sensor 41 utilizes ultra-low frequency signal identification technology, detection to be marked on the letter of work place boundary
Mark, for the identification on border, place, it is ensured that weeder is without departing from boundary work.Voyage enumerator 43 is one and utilizes electromagnetism
The sensor of hall sensing principle, is arranged on the auxiliary device of weeder live axle, gathers the rotation of weeder driving wheel
Speed, is translated into air line distance by calculating, for surveying and drawing the voyage data that weeder is advanced.Obstacle recognition sensor
42 is a kind of press detection sensor being installed in weeder housing, can sense the collision that weeder shell is subject to, use
The barrier that weeder normally works may be affected in identifying in work place.
In a preferred embodiment, above-mentioned aiding sensors group 45 include independently being arranged on weeder for feeling
Whether should rain rains detects sensor 45-1, for sensing the driving condition detection sensor 45-of weeder running status
2, for monitoring the power management device 45-3 of weeder power supply status and for detecting obstacle distance weeder distance
Distance measuring sensor 45-4.
Rain detection sensor 45-1 if be detected that rain signal then closes weeder hay knife driving means 30 avoids
Because its high-speed cruising causes weeder inner inlet impaired.Distance measuring sensor 45-4 is used for coordinating obstacle recognition sensor 42 to examine
Survey the minimum position information of barrier, see the details providing barrier on map to central processing unit 10.Driving condition
Detection sensor 45-2, is one group of special IC, is preset the nominal parameter of motor therein by program, transports at motor
The operational factor of motor can be gathered during row and compare with parameter preset, exceed preset value and give a warning information, and automatically stop
Machine.The information such as the voltage of battery, electric current, capacity when power management device 45-3 is for detecting weeder work, fills at battery
Electricity time also detect the information such as charging current, battery capacity judgement, it is ensured that battery will not overdischarge will not overcharge.
In a preferred embodiment, described orientation recognition sensor group 44 include integrated three-dimensional electronic gyroscope 44-1,
Three-dimensional acceleration sensor 44-2 and dimensionally Magnetic Sensor 44-3.
These three sensor is designed to a kind of integrated state, is that central processing system chipset transmits by information interface
Data, wherein three-dimensional electronic gyroscope 44-1 can provide the level status information of weeder, if fuselage is beyond setting during work
Meter gradient can give a warning information, and autostop.The direction that three-dimensional acceleration sensor 44-2 can provide weeder to advance
And velocity information, voyage enumerator 43 can be coordinated to determine the running status of weeder during normal work, if chassis is stuck,
Driving wheel occurs that the original place weeder that spins or dally loses speed or can give a warning during velocity anomaly information, and autostop.
Dimensionally magnetic field sensor provides traffic direction accurately for weeder, and the information provided in conjunction with three dimension acceleration sensor is permissible
Weeder is made to have the linearity of good long distance running.The information that three comprehensively exports can be central processing system chip
Group judges the real-time levelness of weeder, speed, directional information accurately.
In a preferred embodiment, intelligence weeder also includes the man machine interface LCD touch pad 50 being arranged on weeder.
Man machine interface can complete to intelligence some call parameters of weeder setting, the operation starting and stopping, intuitively
The status information of display current intelligence weeder.
The herbicidal methods of intelligence weeder of the present invention is described in detail below in conjunction with Fig. 2:
A () weeder sets out with charging station for initial point, charging station be installed in will the border on lawn of weeding, centre
Reason device 10 receives and identifies that the information of Boundary Recognition sensor 41 controls the weeder wheel driver 20 limit along work place
Boundary's row takes a round return charging station；In this step, weeder hay knife driving means 30 is idle state；
B (), during step (a) is run, central processing unit 10 receives orientation recognition sensor group, voyage meter simultaneously
The information of number device 43 draws the electronic chart of the coordinate values labelling with work place；
C () central processing unit 10 calculates the optimum walking path of weeder with the information of electronic chart；
D () central processing unit 10 controls described weeder wheel driver 20 and walks, simultaneously according to optimum walking path
Control weeder hay knife driving means 30 to operate, proceed by weeding work；
E (), in the running of step (d), central processing unit 10 receives the letter of obstacle recognition sensor 42 simultaneously
Breath, if running into barrier, then central processing unit 10 positional information of labelling barrier in electronic chart, recalculates the most simultaneously
Excellent walking path；
F (), in the running of step (d), central processing unit 10 receives obstacle recognition sensor 42, orientation simultaneously
Identify that the information of sensor group 44 and aiding sensors group controls the operating of weeder.
Also including in described step (e), central processing unit 10 is according to obstacle recognition sensor 42 and distance measuring sensor 45-
The information of 4 accurately calculates the positional information of barrier.
Described step (f) specifically includes following step by step:
(f-1) information of the three-dimensional electronic gyroscope 44-1 during central processing unit 10 receives orientation recognition sensor group 44 is sentenced
Whether the fuselage of disconnected weeder is beyond the gradient preset, if exceeding, alert also controls weeder wheel and drives dress
Put 20 and weeder hay knife driving means 30 out of service, perform next step if not；
(f-2) the information identification of the three dimension acceleration sensor during central processing unit 10 receives orientation recognition sensor group 44
The traffic direction of weeder and the speed of service；
(f-3) three-dimensional acceleration during central processing unit 10 receives voyage enumerator 43 and orientation recognition sensor group 44 passes
The information of sensor judges whether the chassis of weeder is stuck, if then giving a warning information, and controls the driving of weeder wheel
Device 20 and weeder hay knife driving means 30 are out of service, perform next step if not；
(f-4) three dimension acceleration sensor during central processing unit 10 receives orientation recognition sensor group 44 and three-dimensional earth magnetism
The information of sensor 44-3 accurately judges the traffic direction of weeder, and corrects the traffic direction of weeder wheel driver 20
Match with optimum walking path；
(f-5) volume during central processing unit 10 receives aiding sensors group rain detection sensor 45-1 information judge be
No have rainy, the situation of spray, if it is out of service then to control weeder hay knife driving means 30, and controls weeder wheel
Driving means 20 is run to charging station and is charged and perform step (7-9), performs next step if not；
(f-6) information of the driving condition detection sensor 45-2 during central processing unit 10 receives aiding sensors group judges
The operational factor controlling weeder wheel driver 20 and weeder hay knife driving means 30 and the parameter preset whether one
Cause, if otherwise giving a warning information control weeder wheel driver 20 and weeder hay knife driving means 30 and stop fortune
OK, if being carried out next step；
(f-7) information of the power management device 45-3 during central processing unit 10 receives aiding sensors group reads weeding
The voltage of machine operation battery, electric current, capacity information, central processing unit 10 judges that weeder power supply reached to put critical point,
Shut down if controlling weeder hay knife driving means 30, and control weeder wheel driver 20 and run to charging station
Charge and perform step (f-9), if otherwise performing next step；
(f-8) central processing unit 10 judges whether weeder runs the terminal to optimal path, if then central processing unit
10 control weeder hay knife driving means 30 shuts down, and control weeder wheel driver 20 charging station charge,
If otherwise performing step (c).
(f-9) central processing unit 10 judges whether weeder power supply reached to rush critical point, stops if controlling weeder
Charging, if otherwise performing step (f-8).
The intelligent weeder of the present invention employs Multi-sensor Fusion control technology, and working region identifies and electronic chart is raw
One-tenth technology, route planning technology, according to moveable robot movement control characteristic, by multi-sensor information fusion technology perceptron
Local environmental information around device people, shortest path first and cartographic information are combined the avoidance action to mobile robot with
Path planning controls accordingly so that weeder has an independent learning ability, real-time renewal electronic chart and at any time
Regeneration planning route.Can automatically move in the target area of the good electronic chart of Determination of The Proper Motions in advance from charging station,
Run according to the automatic programme path of shortest path first and automatic avoiding barrier, can effectively reduce duplicate paths, high
Imitate carries out weeding work.
Above description is only the preferred embodiment of the application and the explanation to institute's application technology principle.People in the art
Member should be appreciated that invention scope involved in the application, however it is not limited to the technology of the particular combination of above-mentioned technical characteristic
Scheme, also should contain in the case of without departing from described inventive concept simultaneously, above-mentioned technical characteristic or its equivalent feature carry out
Combination in any and other technical scheme of being formed.Such as features described above has similar merit with (but not limited to) disclosed herein
The technical scheme that the technical characteristic of energy is replaced mutually and formed.
Claims (7)
1. intelligence weeder, it is characterised in that: include that multi-sensor information acquisition module, central processing unit, weeder wheel drive
Dynamic device, weeder hay knife driving means；Described central processing unit is by receiving the information of multi-sensor information acquisition module
Control described weeder wheel driver and the operating of weeder hay knife driving means；Described multi-sensor information acquisition module
Including be independently arranged on weeder for identifying the Boundary Recognition sensor on border, lawn, for identifying that weeder is
No collide barrier obstacle recognition sensor, for calculating the voyage enumerator of weeder voyage, for sensing in real time
The orientation recognition sensor group in the levelness of weeder, speed and direction and aiding sensors group.
Intelligence weeder the most according to claim 1, it is characterised in that: described aiding sensors group includes independently pacifying
Be contained on weeder detects sensor, for sensing the driving shape of weeder running status for the most rainy the raining of sensing
State detects sensor, for monitoring the power management device of weeder power supply status and for detecting obstacle distance weeder
The distance measuring sensor of distance.
Intelligence weeder the most according to claim 1 and 2, it is characterised in that: described orientation recognition sensor group includes collection
The three-dimensional electronic gyroscope become, three-dimensional acceleration sensor and dimensionally Magnetic Sensor.
Intelligence weeder the most according to claim 1 and 2, it is characterised in that: intelligence weeder also includes being arranged on weeding
Man machine interface LCD touch pad on machine.
The herbicidal methods of intelligence weeder the most according to claim 1 and 2, it is characterised in that: comprise the following steps,
A () weeder sets out with charging station for initial point, central processing unit receives and identifies that the information of Boundary Recognition sensor controls to remove
Grass locomotive wheel driving means takes a round return charging station along the border row of work place；
B (), during step (a) is run, central processing unit receives orientation recognition sensor group, voyage enumerator simultaneously
Information draws the electronic chart of the coordinate values labelling with work place；
C () central processing unit calculates the optimum walking path of weeder with the information of electronic chart；
D () central processing unit controls described weeder wheel driver and walks according to optimum walking path, control weeding simultaneously
Machine cut grass driving device for cutter operates；
E () in the running of step (d), central processing unit receives the information of obstacle recognition sensor simultaneously, if running into
Barrier, then central processing unit positional information of labelling barrier in electronic chart, recalculate optimum walking path simultaneously；
F (), in the running of step (d), central processing unit receives obstacle recognition sensor, orientation recognition sensing simultaneously
The information of device group and aiding sensors group controls the operating of weeder.
The herbicidal methods of intelligence weeder the most according to claim 5, it is characterised in that: described step (e) also includes,
Central processing unit accurately calculates the positional information of barrier according to the information of obstacle recognition sensor and distance measuring sensor.
The herbicidal methods of intelligence weeder the most according to claim 5, it is characterised in that: described step (f) is specifically wrapped
Include following step by step:
(f-1) information of the three-dimensional electronic gyroscope during central processing unit receives orientation recognition sensor group judges the machine of weeder
Whether body is beyond the gradient preset, if exceeding, alert also controls weeder wheel driver and weeding machine cut
Grass driving device for cutter is out of service, performs next step if not；
(f-2) the information identification weeder of the three dimension acceleration sensor during central processing unit receives orientation recognition sensor group
Traffic direction and the speed of service；
(f-3) information of the three dimension acceleration sensor during central processing unit receives voyage enumerator and orientation recognition sensor group
Judging whether the chassis of weeder is stuck, if then giving a warning information, and controlling weeder wheel driver and weeding
Machine cut grass driving device for cutter is out of service, performs next step if not；
(f-4) central processing unit receives three dimension acceleration sensor in orientation recognition sensor group and dimensionally Magnetic Sensor
Information accurately judges the traffic direction of weeder, and corrects the traffic direction of weeder wheel driver and optimum walking path
Match；
(f-5) central processing unit receive the volume in aiding sensors group rain the information of detection sensor determine whether to rain,
The situation of spray, if it is out of service then to control weeder hay knife driving means, and controls weeder wheel driver fortune
Walk to charging station charge and perform step (f-9), perform next step if not；
(f-6) information of the driving condition detection sensor during central processing unit receives aiding sensors group judges to control weeder
Wheel driver is the most consistent, if otherwise sending police with the parameter preset with the operational factor of weeder hay knife driving means
Announcement information also controls weeder wheel driver and weeder hay knife driving means is out of service, if being carried out next step
Suddenly；
(f-7) information of the power management device during central processing unit receives aiding sensors group reads weeder operation
The voltage of battery, electric current, capacity information, central processing unit judges that weeder power supply reached to put critical point, if controlling weeding
Machine cut grass driving device for cutter shuts down, and controls weeder wheel driver and run and charge to charging station and perform step
(f-9), if otherwise performing next step；
(f-8) central processing unit judges whether weeder runs the terminal to optimal path, if then central processing unit controls to remove
Grass machine cut grass driving device for cutter shut down, and control weeder wheel driver charging station charge, if otherwise performing step
Suddenly (c).
(f-9) central processing unit judges whether weeder power supply reached to rush critical point, if controlling weeder to stop charging, if
Otherwise perform step (f-8).
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018086612A1 (en) * | 2016-11-11 | 2018-05-17 | 苏州宝时得电动工具有限公司 | Automatic work system and control method therefor |
| CN108073164A (en) * | 2016-11-11 | 2018-05-25 | 苏州宝时得电动工具有限公司 | Automatic mower and its traveling method |
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2016
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