CN107493797A - Position-recognizing system - Google Patents
Position-recognizing system Download PDFInfo
- Publication number
- CN107493797A CN107493797A CN201610414757.4A CN201610414757A CN107493797A CN 107493797 A CN107493797 A CN 107493797A CN 201610414757 A CN201610414757 A CN 201610414757A CN 107493797 A CN107493797 A CN 107493797A
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- CN
- China
- Prior art keywords
- homeposition
- intelligent grass
- marker
- guide line
- border
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Classifications
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- 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
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D2101/00—Lawn-mowers
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to a kind of position-recognizing system, including intelligent grass-removing, in addition to：Border guide line, for limiting the working region of the intelligent grass-removing；At least one homeposition marker, the homeposition marker are arranged on the border guide line, for guiding the intelligent grass-removing from the homeposition marker work；The intelligent grass-removing includes：Border guide line induction module, for guiding the intelligent grass-removing to be moved along the border guide line；Homeposition mark induction module, for when the border guide line induction module guides the intelligent grass-removing to be moved along the border guide line, one of them of the homeposition marker is identified, makes intelligent grass-removing from the positional markers work identified.It is consistent that the present invention can be trimmed to about the lawn of different zones.
Description
Technical field
The present invention relates to position to identify field, more particularly to a kind of position-recognizing system.
Background technology
With the development of science and technology, intelligent automatic running device is well known, because automatic running device can
To perform the inter-related task pre-set according to the program pre-set automatically, without artificial operation and intervention, therefore in work
Application in industry and family product is very extensive.Robot of the industrial application as performed various functions, on family product
Using such as hay mover, dust catcher etc., these intelligent automatic running devices dramatically saves on the time of people, to industrial production
And life staying idle at home all brings great convenience.
Intelligent grass-removing is a kind of the most frequently used household products, can be used for automatically carrying out mowing task, cut the grass on a lawn,
Keep lawn it is clean and tidy with it is beautiful.Intelligent grass-removing generally works in defined boundary line, and boundary line is typically according to user
Intention arrangement surround, boundary line indicates the lawn scope for belonging to user, or indicates the lawn that user wants trimming
Scope.In order to facilitate the work of intelligent grass-removing, conventional intelligent grass-removing possesses automatic charging function, generally on boundary line
Charging station is provided with, intelligent grass-removing can be connected charging with charging station automatically, and be set out after charging along boundary line.It is conventional
Technology in, intelligent grass-removing starts cutting operation after charging station, the segment distance of random walk one every time, generally walks
Distance is shorter, causes the intelligent grass-removing often cutting operation since a certain position so that the grass of correspondence position block
The ratio that level ground is rolled is more serious, and the lawn of other blocks is then trimmed to about uneven, can not ensure that whole lawn is trimmed to about
It is consistent.
The content of the invention
Based on this, it is necessary to provide a kind of position-recognizing system, ensure handling situations of the intelligent grass-removing in different zones
It is identical, make different zones lawn be trimmed to about it is consistent.
A kind of position-recognizing system, including intelligent grass-removing, it is characterised in that also include：
Border guide line, for limiting the working region of the intelligent grass-removing；
At least one homeposition marker, the homeposition marker are arranged on the border guide line, are used for
The intelligent grass-removing is guided from the homeposition marker work；
The intelligent grass-removing includes：
Border guide line induction module, for guiding the intelligent grass-removing to be moved along the border guide line；
Homeposition mark induction module, for guiding the intelligent grass-removing in the border guide line induction module
When being moved along the border guide line, the homeposition marker one of them is identified, makes intelligent grass-removing from identifying
The positional markers set out work.
Position-recognizing system described above, sets homeposition marker on the guide line of border, and intelligent grass-removing can be with
From different homeposition marker work, ensure that intelligent grass-removing is identical in the handling situations of different zones, make difference
The lawn in region is trimmed to about consistent.
In one of the embodiments, the intelligent grass-removing also includes：
Homeposition selecting module, for guiding the intelligent grass-removing described in the border guide line induction module
During the movement of border guide line, the homeposition marker that the intelligent grass-removing sets out is selected according to preparatory condition.
In one of the embodiments, in addition to：
The start position being arranged on the border guide line, for guiding the intelligent grass-removing every time from the starting point
Position is set out one of them for being moved along the border guide line and identifying the homeposition marker.
In one of the embodiments, the start position guides the intelligent grass-removing every time from fixed-direction edge
The border guide line movement identifies one of them of the homeposition marker.
In one of the embodiments, the homeposition marker includes RFID.
In one of the embodiments, the homeposition mark induction module includes tongue tube or Hall effect is opened
Close.
In one of the embodiments, the preparatory condition includes：
Number of the default guiding intelligent grass-removing from the homeposition marker work.
In one of the embodiments, the default number can need to be configured according to user.
In one of the embodiments, the intelligent grass-removing also includes：
Counting module, for recording the intelligent grass-removing from the number of the homeposition marker work；
Detection means, for identifying its of the homeposition marker in the homeposition mark induction module
In one when, the intelligent grass-removing of detection counting module record from the number of the homeposition marker work whether
Number less than the default intelligent grass-removing from the homeposition marker work.
Brief description of the drawings
Fig. 1 is the schematic diagram of intelligent grass-removing work.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
As shown in figure 1, lawn region is divided into tri- regions of A, B and C, originating point 5 is located on boundary line 4, and generally intelligence is cut
Careless machine 1 has the function of automatic charging, and after charging electricity, intelligent grass-removing 1 is started working from charging station, therefore, originating point 5
It can be charging station position；Some position starting points 2 are provided with boundary line 4, intelligent grass-removing is at work, traditional
Under scheme, intelligent grass-removing 1 is behind originating point 5s, after moving a segment distance along boundary line 4, enters from some position starting point 2
Enter the start-up operation of lawn region, but under normal circumstances, intelligent grass-removing 1 can select a nearer position starting point 2 to hold nearby
Beginning work, as shown in fig. 1, the number that so region A can be caused to be trimmed by intelligent grass-removing are more, and region B and C then compared with
Few, prolonged so to continue, the ratio that the grass in the A of region can be rolled is more serious, and in region B and C then as not by
Trimming.
Therefore, a kind of position-recognizing system is present embodiments provided, including intelligent grass-removing, in addition to：
Border guide line, for limiting the working region of the intelligent grass-removing；
At least one homeposition marker, homeposition marker is arranged on the guide line of border, for guiding intelligence
Hay mover is from homeposition marker work；
Intelligent grass-removing includes：
Border guide line induction module, for guiding intelligent grass-removing to be moved along border guide line；
Homeposition mark induction module, for drawing in border guide line induction module guiding intelligent grass-removing along border
When wire moves, positional markers of setting out one of them is identified, makes intelligent grass-removing from the positional markers identified
Work.
Position-recognizing system described above, sets homeposition marker on the guide line of border, and intelligent grass-removing can be with
From different homeposition marker work, ensure that intelligent grass-removing is identical in the handling situations of different zones, make difference
The lawn in region is trimmed to about consistent.
Wherein, intelligent grass-removing also includes homeposition selecting module, for being guided in border guide line induction module
Intelligent grass-removing along border guide line move when, the homeposition marker that sets out of intelligent grass-removing is selected according to preparatory condition.
, can root from the number of each homeposition marker in order to ensure the uniformity mowed in each region as far as possible
Consider to be configured according to the size in mowing region, the upgrowth situation on lawn and other situations.Therefore, preparatory condition can be pre-
If guiding number of the intelligent grass-removing from homeposition marker work, specific default number can be according to user's needs
It is configured.As long as final intelligent grass-removing reaches default secondary numerical value to the number of turf-mown, can thus protect
Demonstrate,prove whole lawn all areas be trimmed to about it is consistent.Therefore, the intelligent grass-removing of the present embodiment also include counting module and
Detection means, wherein, counting module is used to record intelligent grass-removing from the number of homeposition marker work；Detection dress
Put for when homeposition mark induction module identifies one of them of homeposition marker, detection counting module to be remembered
Whether the intelligent grass-removing of record goes out less than default intelligent grass-removing from the number of the homeposition marker work from this
Hair positional markers are set out the number of work.When intelligent grass-removing, a homeposition marker sets out work one therefrom every time
Secondary, counting module just sets out number record once to the homeposition marker, and gradually adds up.When next intelligent grass-removing
Will from during the homeposition marker work, detection module can detect from the number of the homeposition marker whether
Reached default number, if reached, control intelligent grass-removing need not from the homeposition marker work, and
Intelligent grass-removing is guided to identify next homeposition marker.When intelligent grass-removing going out from all homeposition markers
When hair number reaches default number, show that the task for trimming whole lawn is completed.Now, the lawn of all areas is equal
It is trimmed to about finishing, the uniformity for keeping lawn to be trimmed to about.
In the present embodiment, to be further ensured that the uniformity to turf-mown, starting point can be set on the guide line of border
Position, homeposition marker is identified for guiding intelligent grass-removing to be moved every time from start position along border guide line
One of them.When intelligent grass-removing needs to set out work, set out along border guide line be moved to start position every time, and from
Start position starts identification and set out positional markers.Although finally to turf-mown after, the situation on whole lawn be it is consistent,
To ensure during trimming, to the uniformity of turf-mown, the difference that some regions are trimmed during cutting the grass on a lawn is prevented
Excessive, start position can guide intelligent grass-removing to be moved every time from fixed-direction along border guide line and identify homeposition
One of them of marker.
In the present embodiment, as a kind of achievable mode therein, homeposition marker can include RFID, position of setting out
Tongue tube or hall-effect switch can be included by putting mark induction module.By taking tongue tube as an example, when intelligent grass-removing reaches out
When sending out positional markers, tongue tube senses that homeposition marker can close and produces corresponding electric signal, intelligent grass-removing
Controller can be by identifying homeposition marker corresponding to the identification of this electric signal.
As the explanation of the present embodiment, as shown in figure 1, being provided with some homeposition markers on border guide line 4
2, each homeposition marker 2 is preset with number of the intelligent grass-removing 1 from its, and specific number can be according to user
Demand be configured, it is necessary to the region of stability appraisal can set larger number, otherwise less number can be set.Often
Secondary intelligent grass-removing 1 is behind start position 5s, by above-described position-recognizing system, finally make intelligent grass-removing from
The number that all homeposition markers 2 set out is satisfied by default number, ensures work of the intelligent grass-removing in different zones
Industry situation is identical, make different zones lawn be trimmed to about it is consistent.
Each technical characteristic of embodiment described above can be combined arbitrarily, to make description succinct, not to above-mentioned reality
Apply all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, the scope that this specification is recorded all is considered to be.
Embodiment described above only expresses the several embodiments of the present invention, and its description is more specific and detailed, but simultaneously
Can not therefore it be construed as limiting the scope of the patent.It should be pointed out that come for one of ordinary skill in the art
Say, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection of the present invention
Scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (9)
1. a kind of position-recognizing system, including intelligent grass-removing, it is characterised in that also include：
Border guide line, for limiting the working region of the intelligent grass-removing；
At least one homeposition marker, the homeposition marker is arranged on the border guide line, for guiding
The intelligent grass-removing is from the homeposition marker work；
The intelligent grass-removing includes：
Border guide line induction module, for guiding the intelligent grass-removing to be moved along the border guide line；
Homeposition mark induction module, for guiding the intelligent grass-removing along institute in the border guide line induction module
When stating border guide line movement, the homeposition marker one of them is identified, makes intelligent grass-removing from the institute identified
Positional markers are stated to set out work.
2. position-recognizing system according to claim 1, it is characterised in that the intelligent grass-removing also includes：
Homeposition selecting module, for guiding the intelligent grass-removing along the border in the border guide line induction module
When guide line moves, the homeposition marker that the intelligent grass-removing sets out is selected according to preparatory condition.
3. position-recognizing system according to claim 1, it is characterised in that also include：
The start position being arranged on the border guide line, for guiding the intelligent grass-removing every time from the start position
Set out one of them for being moved along the border guide line and identifying the homeposition marker.
4. position-recognizing system according to claim 3, it is characterised in that the start position guiding intelligence is mowed
Machine moves one of them for identifying the homeposition marker from fixed-direction along the border guide line every time.
5. position-recognizing system according to claim 1, it is characterised in that the homeposition marker includes RFID.
6. position-recognizing system according to claim 1, it is characterised in that the homeposition mark induction module bag
Include tongue tube or hall-effect switch.
7. position-recognizing system according to claim 2, it is characterised in that the preparatory condition includes：
Number of the default guiding intelligent grass-removing from the homeposition marker work.
8. position-recognizing system according to claim 7, it is characterised in that the default number can be according to user's needs
It is configured.
9. position-recognizing system according to claim 7, it is characterised in that the intelligent grass-removing also includes：
Counting module, for recording the intelligent grass-removing from the number of the homeposition marker work；
Detection means, for identifying wherein the one of the homeposition marker in the homeposition mark induction module
When individual, whether the intelligent grass-removing of detection counting module record is less than from the number of the homeposition marker work
Number of the default intelligent grass-removing from the homeposition marker work.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610414757.4A CN107493797B (en) | 2016-06-14 | 2016-06-14 | Position recognition system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610414757.4A CN107493797B (en) | 2016-06-14 | 2016-06-14 | Position recognition system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107493797A true CN107493797A (en) | 2017-12-22 |
| CN107493797B CN107493797B (en) | 2020-03-27 |
Family
ID=60678471
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610414757.4A Active CN107493797B (en) | 2016-06-14 | 2016-06-14 | Position recognition system |
Country Status (1)
| Country | Link |
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| CN (1) | CN107493797B (en) |
Cited By (5)
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| WO2019183907A1 (en) * | 2018-03-30 | 2019-10-03 | Changzhou Globe Co.,Ltd | Robotic mower and method for controlling a robotic mower |
| WO2020088460A1 (en) * | 2018-10-31 | 2020-05-07 | 苏州科瓴精密机械科技有限公司 | Walking robot control method and system |
| CN111308994A (en) * | 2018-11-23 | 2020-06-19 | 苏州科瓴精密机械科技有限公司 | Robot control method and robot system |
| WO2022011876A1 (en) * | 2020-07-16 | 2022-01-20 | 苏州科瓴精密机械科技有限公司 | Automatic traveling apparatus, control method for same, system, and storage medium |
| WO2022127525A1 (en) * | 2020-12-14 | 2022-06-23 | 南京泉峰科技有限公司 | Self-driving device system and charging station |
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