CN103141210B - Intelligent grass cutter system and grass cutting method - Google Patents
Intelligent grass cutter system and grass cutting method Download PDFInfo
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- CN103141210B CN103141210B CN201310080773.0A CN201310080773A CN103141210B CN 103141210 B CN103141210 B CN 103141210B CN 201310080773 A CN201310080773 A CN 201310080773A CN 103141210 B CN103141210 B CN 103141210B
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Abstract
The invention relates to an intelligent grass cutter system and a grass cutting method. The intelligent grass cutter system comprises an intelligent grass cutter, wherein a control platform is arranged in the intelligent grass cutter; an outer ring of the intelligent grass cutter is provided with a boundary electronic fence; a plurality of grass cutting motors are arranged in the intelligent grass cutter; a current detection device is arranged on the intelligent grass cutter; a sensing detection device for detecting a running state is mounted on the intelligent grass cutter, and comprises a motor speed hall counter, an anti-collision switch, and inductive detection sensors mounted on the two sides of the intelligent grass cutter; the inductive detection sensors in the current detection device and the sensing detection device, the anti-collision switch and the motor speed hall counter are connected with the control platform; and the control platform controls the intelligent grass cutter to conduct required grass cutting operation within an area determined by the boundary electronic fence according to a detection input signal. The intelligent grass cutter system is high in automation degree, wide in application scope, safe and reliable, and can achieve efficient, independent and intelligent grass cutting operation within the delineated area.
Description
Technical field
The present invention relates to a kind of system and method, especially a kind of intelligent grass-removing system and mowing method, specifically carry out the system and method for mowing in the region of border fence delineation.
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 measurement city development level and people's quality of life.In recent years, the greenery patches of city square and biotope was increasing, and the maintenance workload for lawn is day by day heavy, and people start to attempt utilizing electronic information technology to realize intelligent method of mowing.Each manufacturer is proposed respective intelligent grass-removing product one after another, and makes every effort under the prerequisite of controlling cost, and finds safer, simple and direct, method of mowing efficiently, for user provides more intelligentized service.
Traditional to seem in real mowing situation underaction by route or random mowing mode, cause its mowing efficiency lower, the service life of mower is shorter.On the other hand, utilize location technology, make lawn mower system set up area map, carry out path planning and navigation is mowed, can improve mowing efficiency, but its development difficulty is beaten, cost is higher, and its systematic function and positioning precision and real-time closely related.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, provide a kind of intelligent grass-removing system and mowing method, its automaticity is high, can realize efficiently autonomous intelligent cutting operation, wide accommodation in delineation region, safe and reliable.
According to technical scheme provided by the invention, described intelligent grass-removing system, comprises intelligent grass-removing, has the parametric controller of PWM speed regulation capacity and data-handling capacity in described intelligent grass-removing; The outer ring of described intelligent grass-removing is provided with the border fence for drawing a circle to approve intelligent grass-removing mowing region; Comprise in intelligent grass-removing and to be positioned at below intelligent grass-removing fuselage and the some mowing motors installed side by side, intelligent grass-removing is provided with the current sensing means for detecting each mowing motor working current; Intelligent grass-removing is provided with the sensing detection device detecting running status, described sensing detection device comprises motor speed Hall counter, anticollision switch and is installed on the inductance detection sensor of intelligent grass-removing both sides; Inductance detection sensor in described current sensing means and sensing detection device, anticollision switch are all connected with parametric controller with motor speed Hall counter, and parametric controller controls intelligent grass-removing according to detection input signal and carry out required cutting operation in the region that border fence is determined.
Described border fence is provided with for docking the charging station charged with intelligent grass-removing.In described intelligent grass-removing, below is provided with the first mowing motor, the second mowing motor and the 3rd mowing motor for driving cutting operation; Described current sensing means comprises the first current sensor for detecting the first mowing motor working current, for detecting the second current sensor of the second mowing motor working current and the 3rd current sensor for detecting the 3rd mowing motor working current.
The inductance detection sensor energy detection boundaries fence of described intelligent grass-removing both sides, boundary limitation during normally to work as intelligent grass-removing; The parametric controller of intelligent grass-removing utilizes inductance detection sensor to detect and tracking border fence, to complete required border cutting operation.
The inductance detection sensor energy detection boundaries fence of described intelligent grass-removing both sides, boundary limitation during normally to work as intelligent grass-removing; The parametric controller of intelligent grass-removing utilizes inductance detection sensor to detect and tracking border fence, charges to complete required border cutting operation and to return charging station.
A mowing method for intelligent grass-removing system, described mowing method comprises the steps:
A, start intelligent grass-removing, and by the inductance detection sensor tracking border fence of described intelligent grass-removing both sides one week, to complete border cutting operation border fence being determined to region;
B, within one week, to be completed after border mows by tracking border fence, described intelligent grass-removing inwardly rotates predetermined angle by border fence, is detected the running status of corresponding mowing motor in intelligent grass-removing by current sensing means; When the operating current of correspondence mowing motor increases, then intelligent grass-removing finds edges of regions of not mowing, and carry out adjustment movement pose by parametric controller adjustment intelligent grass-removing two side drive wheel speed, the mowing motor installed side by side is made to have side to mow, opposite side is unloaded, and intelligent grass-removing prepares to enter and mows along edge tracking annular convergent pathway; When not finding in rotary course until mowing region, then enter random straight pattern and carry out finding and treat mowing region;
C, along under edge annular convergence mowing pattern, intelligent grass-removing is by the current state of corresponding mowing motor in current sensing means detection intelligent grass-removing, and by parametric controller feedback regulation intelligent grass-removing two side drive wheel speed, make intelligent grass-removing carry out continuous tracking and not mow edges of regions;
D, along under edge annular convergence mowing pattern, intelligent grass-removing is mowed to a regional area central point the most at last, when described intelligent grass-removing is after described regional area central spot rotates a circle and do not mow, then intelligent grass-removing enters random straight pattern and finds other regions of not mowing;
E, along in edge annular convergence mowing pattern mowing process, intelligent grass-removing run into barrier or by inductance detection sensor sensing to sideband signal, then parametric controller controls intelligent grass-removing and retreats rotation immediately, then carries out annular convergence to region of not mowing in the other direction and mows; When repeatedly detecting barrier or sideband signal within a certain period of time, then enter random straight pattern by parametric controller adjustment and find other regions of not mowing;
Under f, random straight pattern, intelligent grass-removing forces straight line moving setpoint distance, to be kept in obscurity at random mowing by anticollision switch and inductance detection sensor in defined area, and finds according to the current sensing means of mowing motor and treat mowing region; When the electric current of mowing motor continues to exceed threshold value at short notice, then show that current region has grass or grass not to cut only, intelligent grass-removing rotates immediately, repeat the mowing state entering step b, the fuselage of intelligent grass-removing is in and treats mowing edges of regions, then enter into and along edge annular convergence mowing pattern, mowed in this region;
G, under random straight pattern, intelligent grass-removing treats mowing region as all do not found in continuous certain hour, and this time exceedes the time restriction of user's setting, then parametric controller controls intelligent grass-removing and returns charging station.
In described step a, the tracking direction of intelligent grass-removing and charging station in the reality of border fence towards corresponding.
Advantage of the present invention: intelligent grass-removing is in the mowing region that border fence is drawn a circle to approve, rely on the current sensing means of mowing motor, find region of not mowing, judge not mow edges of regions, and mow around edge to regional center annular convergence of not mowing, realize mowing to the intellectuality on lawn in region; The time that intelligent grass-removing does not cut grass continuously by timing judges whether to complete the mowing task drawing the line interior, as exceed setting-up time or electricity not enough time then auto-returned charging, the method makes intelligent grass-removing when not by other location technologies, improve the mowing efficiency to lawn in region and all standing level, save energy consumption, enhance the independence of intelligent grass-removing.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Fig. 2 is the schematic diagram of the present invention when mowing.
Description of reference numerals: 1-intelligent grass-removing, 2-first current sensor, 3-second current sensor, 4-the 3rd current sensor, 5-first mows motor, 6-second mows motor, 7-the 3rd mowing motor, 8-inductance detection sensor, 9-anticollision switch, 10-motor speed Hall counter, 11-border fence, 12-charging station, 13-first anchor point, 14-second anchor point, 15-regional area central point, 16-selected angle, 17-treats mowing region and 18-barrier.
Embodiment
Below in conjunction with concrete drawings and Examples, the invention will be further described.
As shown in Figure 1: in order to efficiently autonomous cutting operation can be carried out to mowing region, the present invention includes intelligent grass-removing 1, there is PWM(Pulse Width Modulation in described intelligent grass-removing 1) parametric controller of speed regulation capacity and data-handling capacity; The outer ring of described intelligent grass-removing 1 is provided with to mow the border fence 11 in region for drawing a circle to approve intelligent grass-removing 1; Comprise in intelligent grass-removing 1 and to be positioned at below intelligent grass-removing 1 fuselage and the some mowing motors installed side by side, intelligent grass-removing 1 is provided with the current sensing means for detecting each mowing motor working current; Intelligent grass-removing 1 is provided with the sensing detection device detecting running status, described sensing detection device comprises motor speed Hall counter 10, anticollision switch 9 and is installed on the inductance detection sensor 8 of intelligent grass-removing 1 both sides; Inductance detection sensor 8 in described current sensing means and sensing detection device, anticollision switch 9 are all connected with parametric controller with motor speed Hall counter 10, and parametric controller controls intelligent grass-removing 1 according to detection input signal and carry out required cutting operation in the region that border fence 11 is determined.
Described border fence 11 is provided with for docking the charging station 12 charged with intelligent grass-removing 1.Particularly, in the embodiment of the present invention, in described intelligent grass-removing 1, below is provided with the first mowing motor 5, second mowing motor 6 and the 3rd mowing motor 7 for driving cutting operation; Described current sensing means comprises the first current sensor 2 for detecting the first mowing motor 5 operating current, for detecting the second current sensor 3 of the second mowing motor 6 operating current and the 3rd current sensor 4 for detecting the 3rd mowing motor 7 operating current.
The inductance detection sensor 8 energy detection boundaries fence 11 of described intelligent grass-removing 1 both sides, boundary limitation during normally to work as intelligent grass-removing 1; The parametric controller of intelligent grass-removing 1 utilizes inductance detection sensor 8 pairs of border fences 11 to detect and tracking, charges to complete required border cutting operation and to return charging station 12.
As depicted in figs. 1 and 2: the mowing method of intelligent grass-removing system of the present invention comprises the steps:
A, start intelligent grass-removing 1, and by the inductance detection sensor 8 tracking border fence of described intelligent grass-removing 1 both sides 11 1 weeks, to complete border cutting operation border fence 11 being determined to region;
Wherein, tracking direction and the charging station 12 of intelligent grass-removing 1 in the reality of border fence 11 towards corresponding.
B, within 11 1 weeks, to be completed after border mows by tracking border fence, described intelligent grass-removing 1 inwardly rotates predetermined angle by border fence 11, is detected the running status of corresponding mowing motor in intelligent grass-removing 1 by current sensing means; When the operating current of correspondence mowing motor increases, then intelligent grass-removing 1 finds edges of regions of not mowing, and carry out adjustment movement pose by parametric controller adjustment intelligent grass-removing 1 liang of side drive wheel speed, the mowing motor installed side by side is made to have side to mow, opposite side is unloaded, and intelligent grass-removing 1 prepares to enter and mows along edge tracking annular convergent pathway; When not finding in rotary course until mowing region, then enter random straight pattern and carry out finding and treat mowing region;
C, along under edge annular convergence mowing pattern, intelligent grass-removing 1 is by the current state of corresponding mowing motor in current sensing means detection intelligent grass-removing 1, and by parametric controller feedback regulation intelligent grass-removing 1 liang of side drive wheel speed, make intelligent grass-removing 1 carry out continuous tracking and not mow edges of regions;
D, along under edge annular convergence mowing pattern, intelligent grass-removing 1 is mowed to a regional area central point the most at last, when described intelligent grass-removing 1 is after described regional area central spot rotates a circle and do not mow, then intelligent grass-removing 1 enters random straight pattern and finds other regions of not mowing;
E, along in edge annular convergence mowing pattern mowing process, intelligent grass-removing 1 runs into barrier 18 or senses sideband signal by inductance detection sensor 8, then parametric controller controls intelligent grass-removing 1 and retreats rotation immediately, then carries out annular convergence to region of not mowing in the other direction and mows; When repeatedly detecting barrier 18 or sideband signal within a certain period of time, then enter random straight pattern by parametric controller adjustment and find other regions of not mowing;
Under f, random straight pattern, intelligent grass-removing 1 forces straight line moving setpoint distance, to be kept in obscurity at random mowing by anticollision switch 9 and inductance detection sensor 8 in defined area, and finds according to the current sensing means of mowing motor and treat mowing region; When the electric current of mowing motor continues to exceed threshold value at short notice, then show that current region has grass or grass not to cut only, intelligent grass-removing 1 rotates immediately, repeat the mowing state entering step b, the fuselage of intelligent grass-removing 1 is in and treats mowing edges of regions, then enter into and along edge annular convergence mowing pattern, mowed in this region;
G, under random straight pattern, intelligent grass-removing 1 as all do not found to treat mowing region in continuous certain hour, and this time exceed the time restriction of user's setting, then parametric controller controls intelligent grass-removing 1 and returns charging station.
Particularly, intelligent grass-removing 1 starts from charging station 12, or start straight line moving to border fence 11 from the interior optional position that draws the line, by the inductance detection sensor 8 tracking border fence of intelligent grass-removing 1 both sides 11 1 weeks, arrive the first anchor point 13 place in Fig. 2, with complete border mow, its actual charging station 12 towards making tracking direction be counterclockwise.
After intelligent grass-removing 1 completes border mowing, set angle is inwardly rotated by border, each mowing motor ruuning situation in intelligent grass-removing 1 is detected in real time by the first current sensor 2, second current sensor 3 and the 3rd current sensor 4, when mowing current of electric increases, show that intelligent grass-removing finds edges of regions of not mowing, and begin through adjustment two side drive wheel speed to regulate self pose, 3rd mowing motor 7 is mowed, first mowing motor 5 is unloaded, and intelligent grass-removing 1 prepares to enter and mows along edge tracking annular convergent pathway; Treat mowing region as do not found in rotary course, then enter random straight pattern and find.
Under restraining mowing pattern along edge annular, intelligent grass-removing 1 detects its current state by the first current sensor 2, second current sensor 3 and the 3rd current sensor 4, feedback regulation two side drive wheel speed, intelligent grass-removing 1 can not to be mowed edges of regions by tracking continuously, ideally, mowing motor 6 most of the time be arranged in the middle of fuselage is in mowing state, as the second anchor point 14 place in Fig. 2.
Under restraining mowing pattern along edge annular, intelligent grass-removing is mowed to a regional area central point 15 the most at last, when intelligent grass-removing 1 is after this place rotates a circle and do not mow, then think and entered mowing task in this local random straight pattern and found other regions of not mowing.Described random straight pattern is that intelligent grass-removing 1 goes up linear running in any direction, and annular convergence mowing pattern in edge is that parametric controller controls intelligent grass-removing 1 and annularly to move mowing, and wherein, the regional extent of circulatory motion can set in advance as required.
Restraining in mowing pattern mowing process along edge annular, intelligent grass-removing 1 is as run into barrier 18 or sensing sideband signal, then retreat rotation immediately, the anglec of rotation 16 can preset, and then carries out annular convergence to region of not mowing in the other direction and mows.As repeatedly detected barrier or sideband signal within a certain period of time, then enter random straight pattern and find other regions of not mowing.
Under random straight pattern, intelligent grass-removing 1 forces straight line moving setpoint distance, to be kept in obscurity at random in defined area mowing by anticollision switch 9 and inductance detection sensor 8, and utilize the first current sensor 2, second current sensor 3 and the 3rd current sensor 4 to find to treat mowing region 17; If mowing current of electric continues to exceed threshold value at short notice, then show that current region has grass or grass not to cut only, as treated mowing region 17 place in Fig. 2, intelligent grass-removing 1 rotates immediately, fuselage is in treat the edge in mowing region 17, then enters into and along edge annular convergence mowing pattern, mowed in this region.
Under random straight pattern, intelligent grass-removing 1 as all do not found to treat mowing region in continuous certain hour, namely be no longer switched to along edge annular convergence mowing pattern, and this time exceedes the time restriction of user's setting, then think that mowing task completes in border, automatic tracking returns charging station 12.
Claims (2)
1. a mowing method for intelligent grass-removing system, is characterized in that, described mowing method comprises the steps:
(a), start intelligent grass-removing (1), and by inductance detection sensor (8) the tracking border fence of described intelligent grass-removing (1) both sides (11) weeks, to complete border cutting operation border fence (11) being determined to region;
(b), within (11) one weeks, to be completed after border mows by tracking border fence, described intelligent grass-removing (1) inwardly rotates predetermined angle by border fence (11), is detected the running status of corresponding mowing motor in intelligent grass-removing (1) by current sensing means; When the operating current of correspondence mowing motor increases, then intelligent grass-removing (1) finds edges of regions of not mowing, and adjust intelligent grass-removing (1) two side drive wheel speed by parametric controller and carry out adjustment movement pose, the mowing motor installed side by side is made to have side to mow, opposite side is unloaded, and intelligent grass-removing (1) prepares to enter and mows along edge tracking annular convergent pathway; When not finding in rotary course until mowing region, then enter random straight pattern and carry out finding and treat mowing region;
(c), along under edge annular convergence mowing pattern, intelligent grass-removing (1) detects the current state of corresponding mowing motor in intelligent grass-removing (1) by current sensing means, and by parametric controller feedback regulation intelligent grass-removing (1) two side drive wheel speed, make intelligent grass-removing (1) carry out continuous tracking and not mow edges of regions;
(d), along under edge annular convergence mowing pattern, intelligent grass-removing (1) is mowed to a regional area central point the most at last, when described intelligent grass-removing (1) is after described regional area central spot rotates a circle and do not mow, then intelligent grass-removing (1) enters random straight pattern and finds other regions of not mowing;
(e), along in edge annular convergence mowing pattern mowing process, intelligent grass-removing (1) runs into barrier (18) or senses sideband signal by inductance detection sensor (8), then parametric controller controls intelligent grass-removing (1) and retreats rotation immediately, then carries out annular convergence to region of not mowing in the other direction and mows; When repeatedly detecting barrier (18) or sideband signal within a certain period of time, then enter random straight pattern by parametric controller adjustment and find other regions of not mowing;
Under (f), random straight pattern, intelligent grass-removing (1) forces straight line moving setpoint distance, to be kept in obscurity at random in defined area mowing by anticollision switch (9) and inductance detection sensor (8), and find according to the current sensing means of mowing motor and treat mowing region; When the electric current of mowing motor continues to exceed threshold value at short notice, then show that current region has grass or grass not to cut only, intelligent grass-removing (1) rotates immediately, repeat the mowing state entering step (b), the fuselage of intelligent grass-removing (1) is in and treats mowing edges of regions, then enter into and along edge annular convergence mowing pattern, mowed in this region;
(g), under random straight pattern, intelligent grass-removing (1) treats mowing region as all do not found in continuous certain hour, and this time exceed user setting time restriction, then parametric controller control intelligent grass-removing (1) return charging station.
2. the mowing method of intelligent grass-removing system according to claim 1, is characterized in that: in described step (a), the tracking direction of intelligent grass-removing (1) and charging station (12) in the reality of border fence (11) towards corresponding.
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| CN201310080773.0A CN103141210B (en) | 2013-03-13 | 2013-03-13 | Intelligent grass cutter system and grass cutting method |
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| CN201310080773.0A CN103141210B (en) | 2013-03-13 | 2013-03-13 | Intelligent grass cutter system and grass cutting method |
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| CN105988415B (en) * | 2015-02-13 | 2019-09-20 | 苏州宝时得电动工具有限公司 | Multizone cutting control system and its control method |
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| CN106856799A (en) * | 2017-04-21 | 2017-06-20 | 福建永强力加动力设备有限公司 | A kind of hay mover |
| CN107247457B (en) * | 2017-06-15 | 2020-06-26 | 惠州市蓝微电子有限公司 | Grass cutting repetition rate algorithm of mower |
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